Tool contact action #37
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action/ToolContact.action
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| int32 SUCCESS=0 | ||
| int32 CANCELLED_BY_USER = -1 |
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That is usually called PREEMPTED in ROS.
action/ToolContact.action
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| int32 ABORTED_BY_HARDWARE = -2 | ||
| int32 ABORTED_BY_CONTROLLER = -3 |
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I'm not sure whether it makes sense to separate this. I understand your intention, but with that thinking you tie the action definition closely to the controller.
Co-authored-by: Felix Exner <feex@universal-robots.com>
| int32 SUCCESS=0 | ||
| int32 PREEMPTED = -1 | ||
| int32 ABORTED = -2 |
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What is the intended use for those?
A general "has the action succeeded / canceled / aborted" is part of the action definition already. In the end a caller would want to know whether a tool contact was detected or not, right? Those cases would both fall under the term "action succeeded" from my point of view.
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Oh, I might not have thought that through all the way. Yeah, you are right that information would be nice to have.
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After looking through how the interface to the robot itself works, you are right that the preempted and aborted dont make sense, but a "not triggered" result also doesnt really make sense. Once tool contact has been activated it stays active until it either finds contact or is cancelled by a user, in which case the action should report either cancelled or aborted, in my opinion.
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hm, good point. Would we need a result at all, then?
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I guess not actually, the state of the action itself should be sufficient
This PR adds two actions, one for use with the tool contact controller, and one for use with the TrajectoryUntilNode, which is used to execute a trajectory until some condition is met (or the trajectory is finished). Right now the only available condition is tool contact.