Actionlib and grasping

asked 2014-12-17 07:18:24 -0500

iSaran gravatar image

Hi everyone,

I have built a library in C++ with which I control a robotic hand. So I have some classes with some respective functions. For instance there is a function closeHand(), or moveFinger(position), nothing fancy.

I would like to to run this code under ROS and I suppose I have to use actions. I tried the tutorials for actionlib regarding fibonacci sequence, but I couldn't totally comprehend how to generalize it and using it for my project. I am really new to this so, maybe, thats the case.

For instance, I cannot understand if I have to use more than one servers (one for each of my functions), or what type of goals can I have. If I use one server, can I have multiple goals in the action file?

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