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ros-controls
Propose additional primitive types for interface-handles.
I think bools are almost a must-have, for buttons and grippers and pneumatic valves and things like that. double is nice for things like force/torque sensors. uint and int could be useful for, say, a Robotiq gripper, which has some encoder to determine how open it is.
The other way to handle this, I suppose, is just add ROS publishers/subscribers to the controllers. Since ROS2 messaging has real time capability now.
It seems like this would duplicate a lot of the core messaging functionality of ROS2 itself.
The other way to handle this, I suppose, is just add ROS publishers/subscribers to the controllers. Since ROS2 messaging has real time capability now.
It seems like this would duplicate a lot of the core messaging functionality of ROS2 itself.
I've posited something similar in #17.
At least at that point in time, the performance of the available executors was not deemed sufficient.
I still hope we can go in that direction though.
If you're interested in something like that, I'd suggest taking a look at OROCOS (with the new ROS 2 integration).
The other way to handle this, I suppose, is just add ROS publishers/subscribers to the controllers. Since ROS2 messaging has real time capability now.
I don't understand what do you mean? This is a concept for data storage inside the framework, i.e., exchanging data between hardware and controllers. Controller should than publish those for the rest of the ROS-World
I touched up some typos but generally the proposal looks sensible. We should at least look at the consequences/possibilities of introducing variable types to the interfaces. A specific demo that uses this would be nice too.
