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Should we add enable/relax services to the Controller class? #26

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corot opened this issue Sep 11, 2014 · 4 comments
Closed

Should we add enable/relax services to the Controller class? #26

corot opened this issue Sep 11, 2014 · 4 comments

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@corot
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corot commented Sep 11, 2014

So user don't need to call the service on any sevo. It's just a suggestion; maybe is too dynamixel-specific stuff to put here. For example, @pirobot has implemented the same in his own stack.
@mikeferguson
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I'm not sure what you mean exactly, could elaborate a bit on the use case?

@corot
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corot commented Sep 12, 2014

Sorry. I mean that, if I have, for example, the controllers to operate a trutlebot arm (gripper controller + follower controller), I will have 5 enable, 5 relax services, etc. one per joint. But it would also be good to have a single relax, a single enable, etc. service for the 4 joints in the arm controller.

@mikeferguson
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That seems pretty reasonable, I don't have time to implement, but a pull request is certainly welcome.

corot added a commit to corot/arbotix_ros that referenced this issue Feb 12, 2016
@corot
Issue vanadiumlabs#26 implementation: enable/relax services to the Se…
d87874b 
…rvoController

class, so you don't need to call service on each servo
mikeferguson added a commit that referenced this issue Mar 6, 2016
@mikeferguson
Merge pull request #33 from corot/issue_26
04ae5b3 
Issue #26 implementation: enable/relax services on ServoController class
@corot
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corot commented Mar 6, 2016

Implemented here d87874b

@corot corot closed this as completed Mar 6, 2016
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@corot @mikeferguson