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I'm building an architecture for my application and I'd like to know if the functionality represented in the ur_modern_driver part (image below) is correct. This is follow-up of action-completion.
I've put Joint velocities as by-default the driver publishes speedj commands.
Many thanks to @gvdhoorn and Thomas Timm in advance!
No, this is not correct.
ur_modern_driver only provides an action server.
Your node(s) is (are) the action client(s).
I've put
Joint velocitiesas by-default the driver publishesspeedjcommands.
that is also not correct.
When not using ros_control, the driver uses servoj(..) in a small program that runs on the controller.
When using ros_control, it either uses speedj(..) when the velocity interface of the hw iface is used, or servoj(..) again for the position part.
The driver also doesn't publish anything to the controller. It's a regular TCP/IP connection over which a minimal, custom protocol is run.
Edit: it's a bit lame, but "read the source" is probably still good advice in this case: ThomasTimm/ur_modern_driver.
But as I wrote before: you might want to look into the Zagitta fork (PR#120).
Well, that depends a bit on how you interpret things: "the action server" is a small part of the driver node. Personally I would say that the driver reads ROS parameters from the parameter server. The action server is just one way to interact with the driver.
Asked: 2018-03-15 06:40:27 -0500
Seen: 847 times
Last updated: Mar 15 '18
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