[Rock-dev] datatype for motionplanner
Sankaranarayanan Natarajan
sankar.natarajan at dfki.de
Mon Sep 16 10:44:05 CEST 2013
Hi Jakob,
Its depend on, how the robot should behave. We can either cancel the old
goal or the new one..
-Sankar
On 09/16/2013 10:39 AM, Jakob Schwendner wrote:
> Hi Sankar,
>
> by sending a new goal, I would expect the old goal to be cancelled, no?
>
> cheers,
>
> Jakob
>
>
> On September 16, 2013 at 10:30 AM Sankaranarayanan Natarajan
> <sankar.natarajan at dfki.de> wrote:
>> HI Jakob,
>>
>> The RigidBodyState is fine except the goal_id is missing. The goal_id
>> is used by a goalhandle to get information about the state of goal or
>> to cancel or preempt the goal and stuff like that.. For example we
>> send a goal and in the middle of the action one can cancel the
>> current goal and set a new one...
>>
>> Anyhow, i will try to find a way to use without any "goal_id" :)
>>
>> Regards
>> -Sankar
>> On 09/16/2013 08:41 AM, Jakob Schwendner wrote:
>>> Hi Sankar,
>>>
>>> the RigidBodyState class has a sourceFrame and targetFrame field. So
>>> I guess that should be fine as the frame_id is concerned. As for the
>>> goal_id, I am not sure what it is for on the ROS side. To collect
>>> information from different sources? To handle out of order results?
>>> If I don't miss anything it should be ok to ignore in the rock/ros
>>> bridge. So, just generate an id on the ROS side.
>>>
>>> The problem with introducing new types is that it will make it much
>>> more difficult to plug in existing modules.
>>> And so far, I don't really see a compelling reason (but of course
>>> might have missed something).
>>>
>>> cheers,
>>>
>>> Jakob
>>>
>>> On September 15, 2013 at 7:56 PM Sankaranarayanan Natarajan
>>> <sankaranarayanan.natarajan at dfki.de>
>>> <mailto:sankaranarayanan.natarajan at dfki.de> wrote:
>>>> Hi Jakob,
>>>>
>>>> frame_id -> so the module knows that the given pose is described
>>>> w.r.t "frame_id" frame...i.e target pose can given w.r.t base link
>>>> or laser link/camera link
>>>> goal_id -> ROS actionlib needs a unique id to do a action.
>>>>
>>>> Regards
>>>> -Sankar
>>>> Jakob Schwendner <jakob.schwendner at dfki.de>
>>>> <mailto:jakob.schwendner at dfki.de> hat am 15. September 2013 um
>>>> 18:58 geschrieben:
>>>>> Hi Sankar,
>>>>>
>>>>> why do you need the frame_id and the goal_id? Otherwise you could
>>>>> just use base::Joints and RigidBodyState.
>>>>>
>>>>> cheers,
>>>>>
>>>>> Jakob
>>>>>
>>>>> On September 15, 2013 at 6:44 PM Sankaranarayanan Natarajan
>>>>> <sankaranarayanan.natarajan at dfki.de>
>>>>> <mailto:sankaranarayanan.natarajan at dfki.de> wrote:
>>>>>> Hi Guys,
>>>>>>
>>>>>> I need some datatypes to handle motionplanner input and ouput. I
>>>>>> was thinking for atleast for motionplanner input we can use
>>>>>> exiting data types by adding two lines to the existing
>>>>>> datatypes(z.Bb base/Pose) or a new datatype for motionplanner..
>>>>>> Anyhow a sample struct i have created...
>>>>>>
>>>>>> namespace base
>>>>>> {
>>>>>> namespace motionplanner
>>>>>> {
>>>>>> enum result
>>>>>> {
>>>>>> SUCCESSFUL = 0,
>>>>>> PLANNER_FAILED = -1,
>>>>>> COLLISION_DETECTED = -2,
>>>>>> IK_FAILED = -3,
>>>>>> PATH_TOLERANCE_VIOLATED = -4,
>>>>>> GOAL_TOLERANCE_VIOLATED = -5
>>>>>> };
>>>>>>
>>>>>> struct Pose
>>>>>> {
>>>>>> base::Time time;
>>>>>> std::string frame_id; // the pose is
>>>>>> defined w.r.t this frame
>>>>>> std::string goal_id; // unique id for
>>>>>> a task
>>>>>> base::Pose targetpose;
>>>>>> };
>>>>>>
>>>>>> struct JointAngle
>>>>>> {
>>>>>> base::Time time;
>>>>>> std::string frame_id; // the pose is
>>>>>> defined w.r.t this frame
>>>>>> std::string goal_id; // unique id for
>>>>>> a task
>>>>>> base::samples::Joints joints;
>>>>>> };
>>>>>>
>>>>>> }
>>>>>> }
>>>>>>
>>>>>>
>>>>>> Regards
>>>>>> -Sankar
>>>>>
>>>>>
>>>>> --
>>>>> Jakob Schwendner, M.Sc.
>>>>> Researcher
>>>>>
>>>>> DFKI Bremen
>>>>> Robotics Innovation Center
>>>>> Robert-Hooke-Straße 5
>>>>> 28359 Bremen, Germany
>>>>>
>>>>> Phone: +49 (0)421 17845-4120
>>>>> Fax: +49 (0)421 17845-4150
>>>>> E-Mail: jakob.schwendner at dfki.de <mailto:jakob.schwendner at dfki.de>
>>>>>
>>>>> Weitere Informationen: http://www.dfki.de/robotik
>>>>> -----------------------------------------------------------------------
>>>>>
>>>>> Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
>>>>> Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
>>>>> Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
>>>>> (Vorsitzender) Dr. Walter Olthoff
>>>>> Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
>>>>> Amtsgericht Kaiserslautern, HRB 2313
>>>>> Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
>>>>> USt-Id.Nr.: DE 148646973
>>>>> Steuernummer: 19/673/0060/3
>>>>> -----------------------------------------------------------------------
>>>>>
>>>>
>>>>
>>>
>>>
>>> --
>>> Jakob Schwendner, M.Sc.
>>> Researcher
>>>
>>> DFKI Bremen
>>> Robotics Innovation Center
>>> Robert-Hooke-Straße 5
>>> 28359 Bremen, Germany
>>>
>>> Phone: +49 (0)421 17845-4120
>>> Fax: +49 (0)421 17845-4150
>>> E-Mail: jakob.schwendner at dfki.de <mailto:jakob.schwendner at dfki.de>
>>>
>>> Weitere Informationen: http://www.dfki.de/robotik
>>> -----------------------------------------------------------------------
>>> Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
>>> Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
>>> Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
>>> (Vorsitzender) Dr. Walter Olthoff
>>> Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
>>> Amtsgericht Kaiserslautern, HRB 2313
>>> Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
>>> USt-Id.Nr.: DE 148646973
>>> Steuernummer: 19/673/0060/3
>>> -----------------------------------------------------------------------
>>
>>
>
>
> --
> Jakob Schwendner, M.Sc.
> Researcher
>
> DFKI Bremen
> Robotics Innovation Center
> Robert-Hooke-Straße 5
> 28359 Bremen, Germany
>
> Phone: +49 (0)421 17845-4120
> Fax: +49 (0)421 17845-4150
> E-Mail: jakob.schwendner at dfki.de
>
> Weitere Informationen: http://www.dfki.de/robotik
> -----------------------------------------------------------------------
> Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
> Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
> Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
> (Vorsitzender) Dr. Walter Olthoff
> Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
> Amtsgericht Kaiserslautern, HRB 2313
> Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
> USt-Id.Nr.: DE 148646973
> Steuernummer: 19/673/0060/3
> -----------------------------------------------------------------------
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