[Rock-dev] Using a specific task deployment in a composition (Roby)

[Chris Müller]

I guess, i've found a possible solution in the new rock documentation:
http://rock-robotics.org/stable/documentation/system/subsystem_design.html

It's possible to set a deployment hint for the models in roby. (It seems 
it runs without an error if
a deployment hint is also applied to a concret device / task). In my 
example something should be possible:

Cmp::DualSonar.use('sonar' => 
SonarTritech::Micron.use_deployments(/sonar/))

(not tested it)

On 21.05.2012 16:35, Chris Müller wrote:
> Hi,
>
> Thomas has asked me about an interesting use case in defining a
> composition in roby. Here is a simplified description about the problem.
> Assume the following setup:
>
> # deployments
> simple_deployment("sonar", "sonar_tritech::Micron")
> simple_deployment("sonar_rear", "sonar_tritech::Micron")
>
> # compositions
> composition 'DualSonar'
>       add SonarTritech::Micron, :as =>  'sonar'
>       add SonarTritech::Micron, :as =>  'sonar_rear'
> end
>
> The final question is how can we map the Micron task from deployment
> "sonar" directly
> to place holder for the 'sonar' task in the DualSonar composition.
>
> On our AUV Avalon we have a similar use case, where we distinguish two
> sonar devices from the same driver and it seems it maps magically in the
> correct order. (never met any problem by roby).
>
> I don't know if the :as flag is influencing the mapping mechanism for
> the right deployment or only the order of deployment declarations is
> relevant.
>
> In the experiments it wouldn't be a problem because each task in the
> composition is configured through the :as identifier. But after a few
> thoughts i would currently not exclude a situation where the deployment
> "sonar" is configured and used for the "sonar_rear" task.
>
> Does anyone have some more experiences with this use case? (Matthias,
> Janosch?)
>
> Chris
>
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