Dr. Denis

I am usually solving this by adding interfaces for each control mode, in your case that would be: `position`, `special_position`, `velocity`. Then you always know in your HW interface which...

We are using the second approach right now. For your concrete example, it might be that we need some new parameters in JTC to enable different control modes from the...

Discussion on the WG Meeting on Sep, 20th – we should add a global parameter for this with a default value 0 which means indefinitely. Set this values to the...

> There could be a use case, where you have a controller that wants to share information with multiple controllers, for instance, a controller like a state estimator, then using...

> What do you think? Do you still want me to remove it?. We should work on a realistic example, i.e. have real use-case in docs. Otherwise people start to...

I would go with S3 and fix all the issues we currently have.

Yes, I wanted to do this. It will be done in the next 2 weeks, since we have a release of application with this feature. So I will clean this...

@zengxuhe your output times look quite irregular. Are you using RT Kernel? Without it you will not get 1000 Hz stable.

Can you explain a bit more your use case, why it is not possible to declare parameters?

@bmagyar is this actually still an issue?