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Add actionlib interface for basic Joint Group Command #60

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egordon wants to merge 3 commits into from
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Add actionlib interface for basic Joint Group Command #60

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18f5504
Add JointGroupCommand action
egordon Jun 4, 2021
c32f81d
Switch feedback to JointTrajectoryPoint, actually build the action file
egordon Jun 5, 2021
b42d29f
Made command type (i.e. position, velocity, effort) explicit
egordon Aug 12, 2021
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3 changes: 2 additions & 1 deletion control_msgs/CMakeLists.txt
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Expand Up @@ -8,7 +8,8 @@ add_action_files(DIRECTORY action FILES
GripperCommand.action
JointTrajectory.action
PointHead.action
SingleJointPosition.action)
SingleJointPosition.action
JointGroupCommand.action)

add_message_files(DIRECTORY msg FILES
GripperCommand.msg
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34 changes: 34 additions & 0 deletions control_msgs/action/JointGroupCommand.action
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@@ -0,0 +1,34 @@
# Used in time-stamping the goal.
Header header

# Name list of the joints. You don't need to specify all joints of the
# robot. Joint names are case-sensitive.
string[] joint_names

# A command to the joints listed in joint_names.
# The order must be identical.
float64[] command
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@destogl destogl Jun 30, 2021

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Wold it make sense to make this command more explicit, e.g. trajectory_msgs/JointTrajectoryPoint. This would probably avoid future extensions and fields can be used explicitly (positions, velocities, accelerations).

Does this makes sense for you?

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@egordon egordon Jun 30, 2021

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Pros:

  • Could allow for dual command types (e.g. position with a max velocity/acceleration)
  • Explicit command is easier to interpret

Cons:

  • Doesn't allow for non-traditional joint commands (only position, velocity, acceleration, effort) outside of overloading a variable
  • Makes the coding in ros_controllers a bit more difficult (need to add logic that detects the command type and writes to the appropriate field)

I think the pros can outweigh the cons, so let me make the changes in both packages.


# Command duration / timeout
# Set to 0 for no timeout.
duration timeout
---
int32 error_code
int32 SUCCESSFUL = 0
int32 INVALID_GOAL = -1
int32 INVALID_JOINTS = -2
int32 OLD_HEADER_TIMESTAMP = -3

# Human readable description of the error code. Contains complementary
# information that is especially useful when execution fails, for instance:
# - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
# command violates the controller limits).
# - INVALID_JOINTS: The mismatch between the expected controller joints
# and those provided in the goal.
string error_string

---
Header header
string[] joint_names
float64[] desired
trajectory_msgs/JointTrajectoryPoint actual