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Yaskawa-Global / motoros2

ROS 2 (rcl, rclc & micro-ROS) node for MotoPlus-compatible Yaskawa Motoman robot controllers
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Consider changing (default) ns of FJT to `joint_trajectory_controller` #65

Open gavanderhoorn opened 1 year ago

gavanderhoorn commented 1 year ago

MotoROS2 currently exposes a FollowJointTrajectory action interface on the follow_joint_trajectory ns (docs).

It would perhaps be nice(r) to instead configure the action server to use the joint_trajectory_controller/follow_joint_trajectory namespace.

Even though MotoROS2 does not support ros2_control (faq), changing our FollowJointTrajectory action server to use that namespace would more closely follow the standard namespacing of the ros(2)_control controller of the same name (ie: JointTrajectoryController). This in turn would make it more recognisable for users, and additionally make it easier to configure applications/frameworks like MoveIt, as they tend to (implicitly) assume/expect certain setups and might provide users with templates.

gavanderhoorn commented 1 year ago

It could be all that would be needed for this would be changes to here:

https://github.com/Yaskawa-Global/motoros2/blob/3e8514e6d26a86416a68b7f03f213c93d96852e7/src/ActionServer_FJT.c#L76

and/or here:

https://github.com/Yaskawa-Global/motoros2/blob/3e8514e6d26a86416a68b7f03f213c93d96852e7/src/RosApiNameConstants.h#L32