alexalspach's profile - activity

I just to groovy and realized that my rviz config file, xx.vcg, no longer loads in rviz. Instead, if i save a configuration, it is saved as xx.rviz.

Is there any way to create a config file that will load in both fuerte's and groovy's rviz? I ask because I am creating a stack to run on either and would like to have as few differences as possible.

Thank you in advance.

Alex

I just to groovy and realized that my rviz config file, xx.vcg, no longer loads in rviz. Instead, if i save a configuration, it is saved as xx.rviz.

Is there any way to create a config file that will load in both fuerte's and groovy's rviz? I ask because I am creating a stack to run on either and would like to have as few differences as possible.

Thank you in advance.

Alex

Hello, all,

Been searching for a while but I figured I'd ask directly. What are the pros/cons of using rate.sleep() to control loop frequency versus using a timer callback?

From what I have gathered so far, it seems that sleep should be used if you no other processes need to run while waiting for the next control iteration. Using a callback obviously allows the main loop to continue running while we wait for the next callback.

Mainly I'm interested in the reliability of either. I am running a control loop at only 333Hz with very little control code in between callbacks. What happens if the control loop takes longer than the desired period of the iteration?

Please advise. General information or pointers to the proper resources are greatly appreciated.

Thank you!

Alex

Thank you very much. If this happens again, is there no way for me to fix it on my own?

Hello,

I just created a new page on the wiki: ros.org/wiki/Robots/AllegroHand

I am getting an internal server error. Could you please restore this page and let me know what I may have done to cause this?

Thank you.

Hello, everyone,

My goal: I would like to find a standard way to allow control loops to be developed separately from the CAN communication. This would allow for easy interfacing with the hand without considering the communication. If this seems impossible, or would take more work than it is worth, please advise.

Background: I am currently building a ROS stack to accompany a 16 DOF robotic hand sold by my company. Packages within currently handle CAN communication and provide some demo control code.

I would like to implement a CAN communication node which publishes raw data (in this case encoder values) and subscribes to torque commands.

In a separate node, I would like to implement a controller that subscribes to the encoder readings and publishes the control torque values. Currently I'm running into problems because the loops do not run at the exact same frequency (333.33Hz, off by about 0.1Hz max).

I am new to ROS, so I have not yet learned some of the more sophisticated practices.

Thank you for your support.