add subscriber for JointTrajectory as /command #37
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I will take this pull request into consideration. It's a reasonable request, but I need to see if it fits into the joint trajectory action server upgrades that I've been working on in the im_inverse_dynamics_feedforward branch. |
k-okada
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resolved conflicts |
| @@ -68,6 +69,7 @@ def __init__(self, limb, reconfig_server, rate=100.0, | |||
| FollowJointTrajectoryAction, | |||
| execute_cb=self._on_trajectory_action, | |||
| auto_start=False) | |||
| self._command = rospy.Subscriber('robot/limb/' + limb + '/command', JointTrajectory, self._on_joint_trajectory) | |||
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I would advocate for the following namespacing for clarity:
/robot/limb/right/joint_trajectory/command
/robot/limb/right/joint_trajectory/state
/robot/limb/right/joint_trajectory/query_state
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thanks for comment, fixed,
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| self._pid[jnt].initialize() | ||
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| def _on_joint_trajectory(self, trajectory): | ||
| joint_names = trajectory.joint_names |
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As this trajectory callback can execute at the same time as the Action callback, I think it would make sense to have a mutex lock on both to prevent simultaneous joint commands from being sent into the robot.
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@k-okada I'm very sorry your pull request has languished for nearly two years :/ . I think this topic interface is a valuable addition to the joint trajectory action server, and want to incorporate it if possible. Since the I am off-the-grid the next week on vacation, but I would like to address your pull requests the first week in August when I come back. |
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ok, i have rebased on But I do not think this will prevent simultaneous joint commands execution, we have to lock more wider range, i.e. entire on_trajectory_action and on_trajectory_command, and also I think we should support "override / trajectory replacement" feature as described in http://wiki.ros.org/robot_mechanism_controllers/JointTrajectoryActionController#Trajectory_Replacement, I'll work on this once all my PR is merged. Have a nice vacation! |
/command is general API[1] that is widly used together with JointTrajectoryAction, I need to use this IF for calibration program[2]
[1] http://wiki.ros.org/joint_trajectory_controller?distro=indigo
[2] ros-perception/calibration#31