Add actionlib interface for basic Joint Group Command #60
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destogl
reviewed
Jun 30, 2021
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| # A command to the joints listed in joint_names. | ||
| # The order must be identical. | ||
| float64[] command |
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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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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.
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@destogl Sorry for the delay. Updated action and corresponding ros_controllers PR (ros-controls/ros_controllers#569) accordingly |
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In service of ros-controls/ros_controllers#568
Tested via velocity_controllers/JointGroupVelocityController on Kinova JACO2