Extract common code from hironx and nextage to HrpsysConfigurator #289
From gm130s on December 28, 2013 10:04:42
Discussed in tork-a/rtmros_nextage#7
Original issue: http://code.google.com/p/rtm-ros-robotics/issues/detail?id=291
From gm130s on January 20, 2014 21:20:10
Stuck at the same issue discussed in issue 145 . http://code.google.com/p/hrpsys-base/issues/detail?id=145#c10
From gm130s on January 28, 2014 23:52:03
Continued from http://code.google.com/p/rtm-ros-robotics/issues/detail?id=305#c1 where I posted my initial patch candidate.
I got it.
Do you mean only variables are robot specific? Are there any methods that should also stay in hironx? Below I've taken out methods, and variables that you didn't mention. I appreciate if you could cross out what are not appropriate for hrpsys_ros_bridge.
From kei.ok...@gmail.com on January 29, 2014 06:15:56
Find attachment for the draft patch, because I found several issue that may confuse people. Patch is not tested on real robot at all, so be careful when you apply.
A)I could not find the reason why 'Move to Actual State, Just a minute.' line is requried., because we call goActual and SWITCH_ON, so that the servo modules is already output "Actual State"
B)'if the servos aren't on switch power off' line is also unclear to me, it seems we do not need this code because of we do same thing after "Robot Motion Warning (Servo OFF)"
From gm130s on February 05, 2014 19:17:34
First off, I added HrpsysConfigurator to the title now that we found that there are methods that we can promote to hrpsys level, not just in hironx-nextage level. I now think there are 2 levels of abstraction:
Level-1. Promote to hrpsys
So in this ticket we talk about L-1 abstraction aside from L-2.
+1 for the patch from firstname.lastname@example.org. Responding,
Sorry,,,the link above, which is my patch, is based on an older hironx_client.py that didn't contain the recent patch about servoOn/Off. That said please ignore servo related parts of my patch.
Summary: Extract common code from hironx and nextage to HrpsysConfigurator (was: Extract common code from hironx and nextage)
commit current version to -> https://code.google.com/p/hrpsys-base/source/detail?r=1013, https://code.google.com/p/hrpsys-base/source/detail?r=1010.
*** I removed removeJointGroups from servo off / on, for compatibility for other robots. so be careful when you remove moved codes from hironx_client.py.