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Following the discussions a month or two back, and after a
discussion between some DFKI people to cross-reference between what
is done in ROS as well as our various needs, we settled on a type
design to represent the state of joints, for both control and status
purposes.<br>
<br>
The resulting types are:<br>
base::JointState - representation of a single joint state<br>
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<a
href="http://gitorious.org/rock-base/types/blobs/joint_state/base/JointState.hpp">http://gitorious.org/rock-base/types/blobs/joint_state/base/JointState.hpp</a><br>
base::samples::Joints - representation of a set of joints<br>
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charset=ISO-8859-1">
<a
href="https://gitorious.org/rock-base/types/blobs/joint_state/base/samples/Joints.hpp">http://gitorious.org/rock-base/types/blobs/joint_state/base/samples/Joints.hpp</a><br>
base::commands::Joints - representation of the command of a set of
joints<br>
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charset=ISO-8859-1">
<a
href="https://gitorious.org/rock-base/types/blobs/joint_state/base/commands/Joints.hpp">http://gitorious.org/rock-base/types/blobs/joint_state/base/commands/Joints.hpp</a><br>
<br>
These are currently available on the joint_state branch of the
following packages: base/types, base/orogen/types, base/types_ruby.<br>
<br>
Moreover, a simple IR filter that converts position into speeds has
been added in control/motor_controller
(motor_controller::IRSpeedFromPositionFilter), onto a joint_state
branch as well. The PIDTask from control/orogen/motor_controller has
also been adapted (joint_state branch)<br>
<br>
Please comment / (constructively) criticize. It is important that we
get this one right.<br>
<br>
To get all of those, add the following to the overrides: section of
your autoproj/overrides.yml:<br>
- base/types:<br>
branch: joint_state<br>
- base/orogen/types:<br>
branch: joint_state<br>
- base/types_ruby:<br>
branch: joint_state<br>
- control/motor_controller:<br>
branch: joint_state<br>
- control/orogen/motor_controller:<br>
branch: joint_state<br>
<pre class="moz-signature" cols="72">--
Sylvain Joyeux (Dr.Ing.)
Senior Researcher
Space & Security Robotics
Underwater Robotics
!!! Achtung, neue Telefonnummer!!!
Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
Phone: +49 (0)421 178-454136
Fax: +49 (0)421 218-454150
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:robotik@dfki.de">robotik@dfki.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a>
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