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<div class="moz-cite-prefix">Hi Jakob,<br>
<br>
Its depend on, how the robot should behave. We can either cancel
the old goal or the new one..<br>
<br>
-Sankar<br>
<br>
On 09/16/2013 10:39 AM, Jakob Schwendner wrote:<br>
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<blockquote
cite="mid:1044875289.11013.1379320756153.JavaMail.open-xchange@ox6.dfki.de"
type="cite">
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<div> Hi Sankar, </div>
<div> </div>
<div> by sending a new goal, I would expect the old goal to be
cancelled, no? </div>
<div> </div>
<div> cheers, </div>
<div> </div>
<div> Jakob </div>
<div> </div>
<div> <br>
On September 16, 2013 at 10:30 AM Sankaranarayanan Natarajan
<a class="moz-txt-link-rfc2396E" href="mailto:sankar.natarajan@dfki.de"><sankar.natarajan@dfki.de></a> wrote: </div>
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border-left: solid 1px blue;" type="cite">
<div class="moz-cite-prefix"> HI Jakob, <br>
<br>
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... <br>
<br>
Anyhow, i will try to find a way to use without any
"goal_id" :) <br>
<br>
Regards <br>
-Sankar <br>
On 09/16/2013 08:41 AM, Jakob Schwendner wrote: </div>
<blockquote type="cite">
<div> Hi Sankar, </div>
<div> </div>
<div> 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.
</div>
<div> </div>
<div> The problem with introducing new types is that it will
make it much more difficult to plug in existing modules. <br>
And so far, I don't really see a compelling reason (but
of course might have missed something). </div>
<div> </div>
<div> cheers, </div>
<div> </div>
<div> Jakob </div>
<div> <br>
On September 15, 2013 at 7:56 PM Sankaranarayanan
Natarajan <a moz-do-not-send="true"
href="mailto:sankaranarayanan.natarajan@dfki.de"><sankaranarayanan.natarajan@dfki.de></a>
wrote: </div>
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border-left: solid 1px blue;" type="cite">
<div> Hi Jakob, </div>
<div> </div>
<div> 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 </div>
<div> goal_id -> ROS actionlib needs a unique id to
do a action. </div>
<div> </div>
<div> Regards </div>
<div> -Sankar <br>
Jakob Schwendner <a moz-do-not-send="true"
href="mailto:jakob.schwendner@dfki.de"><jakob.schwendner@dfki.de></a>
hat am 15. September 2013 um 18:58 geschrieben: </div>
<div style="position: relative;">
<blockquote style="margin-left: 0px; padding-left:
10px; border-left: solid 1px blue;" type="cite">
<div> Hi Sankar, </div>
<div> </div>
<div> why do you need the frame_id and the goal_id?
Otherwise you could just use base::Joints and
RigidBodyState. </div>
<div> </div>
<div> cheers, </div>
<div> </div>
<div> Jakob </div>
<div> <br>
On September 15, 2013 at 6:44 PM Sankaranarayanan
Natarajan <a moz-do-not-send="true"
href="mailto:sankaranarayanan.natarajan@dfki.de"><sankaranarayanan.natarajan@dfki.de></a>
wrote: </div>
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10px; border-left: solid 1px blue;" type="cite">
<div> Hi Guys, </div>
<div> </div>
<div> 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... </div>
<div> </div>
<div> namespace base <br>
{ <br>
namespace motionplanner <br>
{ <br>
enum result <br>
{ <br>
SUCCESSFUL = 0, <br>
PLANNER_FAILED = -1, <br>
COLLISION_DETECTED = -2, <br>
IK_FAILED = -3, <br>
PATH_TOLERANCE_VIOLATED = -4, <br>
GOAL_TOLERANCE_VIOLATED = -5 <br>
}; <br>
<br>
struct Pose <br>
{ <br>
base::Time time; <br>
std::string
frame_id; // the pose is defined w.r.t this
frame <br>
std::string
goal_id; // unique id for a task <br>
base::Pose targetpose;
<br>
}; <br>
<br>
struct JointAngle <br>
{ <br>
base::Time time; <br>
std::string
frame_id; // the pose is defined w.r.t this
frame <br>
std::string
goal_id; // unique id for a task <br>
base::samples::Joints
joints; <br>
}; <br>
<br>
} <br>
} </div>
<div> </div>
<div> </div>
<div> Regards </div>
<div> -Sankar </div>
</blockquote>
<br>
</div>
<div> -- <br>
Jakob Schwendner, M.Sc. <br>
Researcher <br>
<br>
DFKI Bremen <br>
Robotics Innovation Center <br>
Robert-Hooke-Straße 5 <br>
28359 Bremen, Germany <br>
<br>
Phone: +49 (0)421 17845-4120 <br>
Fax: +49 (0)421 17845-4150 <br>
E-Mail: <a moz-do-not-send="true"
href="mailto:jakob.schwendner@dfki.de">jakob.schwendner@dfki.de</a>
<br>
<br>
Weitere Informationen: <a moz-do-not-send="true"
href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a>
<br>
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</blockquote>
<br>
</div>
<div> -- <br>
Jakob Schwendner, M.Sc. <br>
Researcher <br>
<br>
DFKI Bremen <br>
Robotics Innovation Center <br>
Robert-Hooke-Straße 5 <br>
28359 Bremen, Germany <br>
<br>
Phone: +49 (0)421 17845-4120 <br>
Fax: +49 (0)421 17845-4150 <br>
E-Mail: <a moz-do-not-send="true"
href="mailto:jakob.schwendner@dfki.de">jakob.schwendner@dfki.de</a>
<br>
<br>
Weitere Informationen: <a moz-do-not-send="true"
href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a>
<br>
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<br>
<pre class="moz-signature"> </pre>
</blockquote>
<br>
</div>
<div id="ox-signature"> -- <br>
Jakob Schwendner, M.Sc. <br>
Researcher <br>
<br>
DFKI Bremen <br>
Robotics Innovation Center <br>
Robert-Hooke-Straße 5 <br>
28359 Bremen, Germany <br>
<br>
Phone: +49 (0)421 17845-4120 <br>
Fax: +49 (0)421 17845-4150 <br>
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:jakob.schwendner@dfki.de">jakob.schwendner@dfki.de</a> <br>
<br>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a> <br>
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Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH <br>
Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern <br>
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster <br>
(Vorsitzender) Dr. Walter Olthoff <br>
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes <br>
Amtsgericht Kaiserslautern, HRB 2313 <br>
Sitz der Gesellschaft: Kaiserslautern (HRB 2313) <br>
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