ros_control
ros_control copied to clipboard
ros-controls
Add method to check for error in robotHW component
I'm proposing to add a method to check for errors in the hardware components, especially when having multiple HW components, it becomes quite cumbersome otherwise.
Could you please demonstrate an example use-case, perhaps through some unit tests?
@bmagyar added a very basic test to it. I guess could also be very useful in conjunction with https://github.com/ros-controls/ros_control/pull/294 to then automatically attempt to recover / stop
At the moment I use this in the main loop and then attempt to recover / stop if it returns true.
attempt to recover / stop if it returns true.
This is the interesting part.. I believe there are no interfaces for this yet.
In ros_canopen I poll and command the hardware directly.
No, there is no interface for that yet - that's why I would like to see https://github.com/ros-controls/ros_control/pull/294 being extended to combined_robot_hw and also merged. Maybe add the extension of stop / recover to combined_robot_hw and the error checking interface in one PR?
Would just like to throw this out there in case nobody has considered it, but it appears the API is converging on an orocos component like design
