[Rock-dev] mars_core removing of Depreciated Tasks: MarsServo and MarsJoint

[Steffen Planthaber]

Hi,

That was quite fast...

Actually I have a problem with the removal as the old Mars::Servo type. 
It models directly the rock dynamixel driver, including an automatic 
sweep mode, which is afaik not included into Mars::Joints.

Also "not so nice" is the fact that i have to provide a vector of 
commands to a instance with a single motor (servo).

I see following options:

1) Re-Adding the Mars::Servo (evt. with different name (the driver it 
models "Mars::Dynamixel"))

2) An additional package for deprecated orogen-mars-plugin types

3) A new package for mars plugins directly modelling existing drivers 
"simulation/orogen/mars_driver_models"

4) Introduce the same structure for rock simulation drivers as for the 
original ones (a single package for each Mars driver that directly 
simulates a rock driver)


I'd prefer option 4) they can have single (rock) packages, as they are 
not needed in the standlone mars. They model rock specific drivers and 
are unlikely to be used without using rock.


Best, Steffen


Am 05.12.2013 15:47, schrieb Matthias Goldhoorn:
> Hi together
>
> Sinc'e the new Joints type is the only recommended i would like to
> remove the depreciated one's from mars.
> If someone still need them (for a demo or something else) please stick
> to the current mars_core rock component.
> I will push the changes tomorrow.
>
> Matthias
>


-- 
  Steffen Planthaber
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