JointMapping Interface

[xwavex]

Due to the obvious need of a properly (cf. #13 ) organized joint mapping (cf. #5 ), we need to retrieve the information from srdf/urdf (cf. branch: https://github.com/cogimon/rtt-gazebo-robot-sim/tree/URDF_SRDF_load) and provide it to other Orocos RTT components. For the second part however, we need a specified interface. I suggest we utilize the build-in mechanism for defining an interface in Orocos RTT.

[EnricoMingo]

There is a branch with everything already implemented, may you take a look?

2016-07-05 10:07 GMT+02:00 Dennis Leroy Wigand notifications@github.com:

Due to the obvious need of a properly (cf. #13 https://github.com/cogimon/rtt-gazebo-robot-sim/issues/13 ) organized joint mapping (cf. #5 https://github.com/cogimon/rtt-gazebo-robot-sim/issues/5 ), we need to retrieve the information from srdf/urdf (cf. branch: https://github.com/cogimon/rtt-gazebo-robot-sim/tree/URDF_SRDF_load) and provide it to other Orocos RTT components. For the second part however, we need a specified interface. I suggest we utilize the build-in mechanism for defining an interface in Orocos RTT.

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Ing. Mingo Enrico Hoffman Istituto Italiano di Tecnologia, Genova

[xwavex]

@EnricoMingo do you mean this branch: https://github.com/cogimon/rtt-gazebo-robot-sim/tree/temporary_implementation ?

[EnricoMingo]

No, URDF_SRDF_load

[xwavex]

Ok, sure I know that. That's why I referenced that branch in the description of this issue. However, I am more concerned about the interface to provide the mapping to other components. Since the robot-sim already loads everything from the srdf/urdf, we can get the information from that component, instead of having every component use the parser and parse the urdf/srdf by itself.

Right now we have to functions inside:

std::map<std::string, std::vector<std::string> > getKinematiChainsAndJoints();

and

/**
 * Provides the joint name to index mapping for other components to retrieve.
 * If there isn't such an port (portName) existing, or used in an kinematic chain,
 * the call will return an empty map. Otherwise it will contain the mapping.
 */
std::map<std::string, int> getJointMappingForPort(std::string portName);

If I remember correctly last time we agreed on having a vector<std::string> for each kinematic chain that contains the different joints in the correct order depending on their indices.

So, what I am talking about is how to define the correct interface specification and implement it according to Orocos' built-in interface mechanisms.

[EnricoMingo]

I have done the operations: std::map<std::string, std::vector > getKinematiChainsAndJoints(); to retrieve all the informations regarding number of kinemtac chains, names and joints (with the right order).

[xwavex]

Ok, then we'll take this as base and need to "wrap" it in the Orocos interface mechanism. Also we do need to have a constraint that ensures that this operation can only to be called once the urdf/srdf is parsed. On the other side, the components that retrieves the joint mapping through this operation, should only be able to be configured once they retrieved the mapping.

[EnricoMingo]

there should be something similar inside...what does it means to "wrap" it in the Orocos interface mechanism?

[xwavex]

@EnricoMingo do we still care about this issue? Can it be closed?

[EnricoMingo]

You can close

2018-01-11 19:41 GMT+01:00 Dennis Leroy Wigand notifications@github.com:

@EnricoMingo https://github.com/enricomingo do we still care about this issue? Can it be closed?

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-- PhD Mingo Hoffman Enrico Istituto Italiano di Tecnologia, Genova