Open gavanderhoorn opened 8 years ago
I realise this is functionality that is going to be difficult to implement in a cross-platform way, but we're getting more and more into the kinds of application areas that would need such an interface.
With the focus on high-bandwidth, low-latency and network based motion interfaces of mfgs lately, I'm also not sure whether doing this in simple message is the right approach: perhaps lifting the interface abstraction up one level (to the ROS API) might make more sense.
On the simple message side, this would probably need support for TOPIC
type JOINT_TRAJ_PT
(or similar) messages. Most drivers assume SERVICE_REQUEST
at the moment.
I've actually made changes to the Staubli driver to add support for TOPIC
. I will soon push them into my staubli_experimental
fork.
Adding the missing-functionality
label as industrial_robot_client
is supposed to conform to the ROS-I driver spec.
It would seem the generic nodes in
industrial_robot_client
do not support thejoint_command
interface as described in section 1.3.3 Motion Control of the ROS-Industrial Robot Driver Specification:Support for this interface would make the generic nodes usable in situations where complete definition and/or execution of complete trajectories doesn't work (eg: visual servoing, reactive control), and would probably also make trajectory replacement possible for ros-industrial drivers that are based on simple message.
This came up in the March Developer Meeting (@frederickproctor) but has also been discussed before (@MuriloMartins).