ros_control combination with actionlib
Hi there,
This is probably a noob question, but after spending some hours trying to figure this out and asking google, I decided to ask it nonetheless.
I am building an interface to a robot that does not have any ros packages yet, I have an interface that reads from a command topic and writes to a state topic. Now I want to use a action server to connect this interface to moveit (which has an action client how I understood it so far?) and other motion planners. But before I continue down this road writing an action server, I wanted to ask if actionlib is the way to go for this.
Many thanks in advance!
EDIT: Thank you for your help. Not any ros packages was poorly phrased from my side. I am using the ABB YuMi, though with the 'new' EGM and RWS libraries. I based my code upon https://github.com/kth-ros-pkg/yumi/ and changed it where necessary. I implemented an actionserver now, but looking at source code tells me that ros_control could also takes care of this, so I've done double work essentially, since they use ros_control as well in their package. Hence I think I have created the issue I was trying to solve myself. I will try and use the ros_control stack instead of my own creation for now.