> Am 04.07.2016 um 01:41 schrieb sliptonic <[email protected]>: > > Now that the Joint/Axis branch has been merged in LinuxCNC, I was curious > about the prognosis for the same in Machinekit? There was some mention in > the issue about potential for ROS integration.
not sure in which context that was mentioned, maybe this should be clarified: as far as ROS/HAL interaction goes, this is unlikely to ever use the motion component, as ROS is very good at trajectory planning and kinematics; motion brings no value to the table here. The basic task for ROS integration is joint trajectory interpolation and playout, and that is already covered by a rather simple component. Bas has a pretty good example for that. In fact it is a big relief that you can do motion applications _without_ the motion component (which honestly is a mess hacked to death, no reusable API, and a gazillion of assumptions which essentially limit usability to the CNC UI's). So the JA work adds no tangible value for this use case. > I'd love to hear more about that too. I think it is good that finally the bad terminology confusion - joints vs axes - was cleaned up. World-mode jogging is certainly a plus. Beyond that I do not see any significant functional changes, but I might have missed something. For instance, if acceleration limits are actually done in joint rather than in axis space now, that would warrant an effort; not sure if this is the case - I do not remember that being addressed last time I looked at it. Happy to advise anybody signing up to the task - it is not just a bit of patchup of a component but percolates up to UI's and down to configs, so certainly not a weekend effort. My own priorities still are: website improvement, package split, move to cmake, integrate the multicore work. - Michael > > > -- > website: http://www.machinekit.io blog: http://blog.machinekit.io github: > https://github.com/machinekit > --- > You received this message because you are subscribed to the Google Groups > "Machinekit" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected]. > Visit this group at https://groups.google.com/group/machinekit. > For more options, visit https://groups.google.com/d/optout. -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
