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What's this cuboid at rqt_graph? [closed]

asked 2022-11-23 00:34:31 -0500

Renox
27 ●5 ●7 ●11

updated 2022-11-23 05:55:09 -0500

I use robot arm(Ufactory Lite6), and I got rqt_graph.

In the graph, nodes are showed by ellipses and topics are showed by rectangle. However, there are cuboid among them.

what is this cuboid? Please tell me.

At nodes only mode, we can watch "/ufactory/lite6_traj_controller/follow_joint_trajectory/status&goal (rectangle)". At nodes and topics(All) mode, we can watch "/ufactory/lite6_traj_controller/follow_joint_trajectory/action_topics (cuboid)", not "status&goal".

What is the relationship between "status&goal"and "action_topics"? Please tell me.

Nodes only mode. image description

Node and topics(All) mode. image description

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Closed for the following reason the question is answered, right answer was accepted by Renox
close date 2023-01-14 11:55:30.653738

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Pedantic perhaps, but a cuboid is 3D. rqt_graph is pretty fancy, but it's not a 3D program (yet).

gvdhoorn ( 2022-11-23 09:58:46 -0500 )edit

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answered 2022-11-23 06:30:52 -0500

Mike Scheutzow
4918 ●2 ●430 ●45

updated 2022-11-23 06:32:03 -0500

An ActionServer/ActionClient communicate with each other using 5 ros topics with specific names: cancel, feedback, goal, result, status.

That box is removing clutter from the diagram by not explicitly listing these 5 well-known topic names.

See http://wiki.ros.org/actionlib for a poorly-written description of actionlib.

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Thank you for your reply. I understood.

Renox ( 2022-11-23 11:59:55 -0500 )edit

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Asked: 2022-11-23 00:34:31 -0500

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Last updated: Nov 23 '22

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