Add RPC packages #491
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Add RPC packages #491
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Add RPC method (for goInitial as a proto-type). Add missing generate_messages macro. [WIP][RPC] Sending GoInitialAction runs, but got the following warning and the command doesn't seem to be executed. <quote>Your executeCallback did not set the goal to a terminal status. This is a bug in your ActionServer implementation. Fix your code! For now, the ActionServer will set this goal to aborted</quote>. [WIP][RPC] Add Action feedback and goal. [rpc] Add goActual, utilizing the srv available from hrpsys_ros_bridge. [rpc] Minor formatting. [RPC] Add getCurrentPose. [rpc] Add checkEncoders. [rpc] Add getReferencePose. [RPC][doc] Improvement. [RPC] Document update. Config for rosdoc. [rpc][fix] cmake build and test launch file.
[RPC] Add getActualState.
[RPC] Add waitInterpolation.
[RPC] Add waitInterpolationOfGroup.
[RPC] Add setJointAngle*.
[RPC] Add get{Current, Reference}{Position, RPY} methods.
[RPC][test] Sort out launch args.
[RPC] Add goOffPose methods, integrating with goInitial.
[RPC] Add getSensors.
[RPC][sample] Cleanup.
[RPC] Wait for RTM servers to before making connection. [RPC][test] Fix import error. [RPC] Fix test launch timing. [RPC][test] Fix old import. [RPC] Add Groups. [RPC] Add getJointAngles. [RPC] Add getRTCList. [RPC] Add setTargetPose. [RPC] Add isServoOn. [RPC] Add isCalibDone. [RPC] Add moveHand, setHandJointAngles. [RPC] Add setEffort. [RPC] Add loadPattern. [RPC] Shorter default sleep time upon launching. [RPC][server] Cleanup. [RPC] Missing install rule. [RPC][test] Try passing CORBA args to rpc.py. May better have to be reverted when no effect. [RPC][test] More specific import. [RPC][test] cleanup. [RPC] Fixes [RPC][test] Start sample node only once during the testsuite. [RPC][test] Fix wrong self "usage" variable. [RPC][test] Use a common test module.
[RPC] Fix cmakelist.
[RPC][test] Fix wrong command. [RPC][test] Fix testcases and sample invocation (after very first Travis CI build (finally tests are being run)).
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After having debated myself, I decided to host the entire package suite regarding this feature for HiroNXO at a separate repository from
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Adding RPC (Remote Procedure Call) feature for higher level of robot operations for the Hironx-variant robots (i.e. Hironx, NEXTAGE Open). Being based on tork_rpc, many high level features can be now invoked via ROS Service (and Topic, Action for limited features too). See
hironx_rpc_server/doc/index.rstfor more info.This work is sponsored by Keio University Yamaguchi Lab..