[Rock-dev] Roby: Using different configurations - conceptual error or bug?

[Sylvain Joyeux]

On 02/16/2012 03:45 PM, Allan E. Conquest wrote:
> Hi,
>
> I would like to use non-default configurations for
>
> a) the general running case (like the time before or between any
> mission) [here: 'studiobad'] and
> b) mission specific configurations? [here: 'default', 'wall_servoing']
>
> The following is our situation:
>
> Robot.devices do
>    device(Dev::Micron, :as =>  'sonar').
>      period(0.01).
>      use_conf("studiobad")
> end
>
> wall_device = device('sonar').use_conf('default', 'wall_servoing')
> define('wall', Cmp::VisualServoing.use(Cmp::WallDetector.use(wall_device)))

This is currently not possible. We would need, for that, to have some 
kind of "do X unless impossible", which does not exist.

So, you have to make the "idle" case an explicit definition and switch 
between that and (here) the wall servoing. For instance, you can create 
a IdleSystem composition that lists what you want to run when you are 
not in a mission, and make your management logic switch between that 
idle composition and the other modes.
-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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