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Created new hardware interface for switching between controller modes #128
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@adolfo-rt could you review this? |
I have seen this PR, but I can't really give an opinion yet, since I don't fully understand how the interface should be used (by controllers and the robot hardware abstraction) to change control modes at runtime (see comments on related ros_controllers PR). So far I have the impression that static modes are well supported, but I'd like to know if the dynamic case should/will be supported, and how. I think this is a very good and attractive new feature, so we should take care that the most common usecases are well supported. |
The dynamic case is now supported. With my robot I can switch with these two calls: switch to position mode
switch to velocity mode
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So I'm not sure if I saw this when I wrote it, but I have an implementation which is very similar to this. I have a set of files strewn out over my
In addition, I have a Python helper class which allows one to easily switch joint controllers without having to always keep up with current/new joint modes. This still needs work, but it is nice to only need to make a single call to the controller wanted running. I see no reason why
I'm just leaving this here to help inform future discussion of a more official integration. |
On these links:
I like the fact that the handle type does not impose the available control modes, but is a general identifier (in your case an ros-controls/ros_controllers#62 has comments that are relevant to this discussion. |
#180 is the rebased version for indigo-devel |
pal-robotics has been putting a lot of work into improving this original PR - I believe this PR has been superseded by the hydro-devel branch of https://github.com/pal-robotics/ros_control @bmagyar can you confirm? @ipa-fxm I think your rebased version should be closed in favor of pal-robotics work. @adolfo-rt can you confirm this? |
I do confirm. |
This implements the "custom interface" described on this wiki page and addresses this issue #99