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

[Moritz Schilling]

Am Dienstag, den 10.12.2013, 09:13 +0100 schrieb Jakob Schwendner:
> > >> The dynamixel hardware drivers (both) do that, Mars::Servo also did
> > >> that, Mars::Joints is not.
> > > then maybe reimplemend this in your module
> > >>
> > >> This leads to a missing Sweep mode that can be set via .yml file.
> > > I'm sorry, if you need sweep functionallity in the long way, you/we
> > > need to create a sweeping task...
> > 
> > Putting the sweep into MY module/task is imo a bad idea, that could result
> in
> > concurrent writes on the position, when more tasks (possibly from other
> > projects) want to set a position.
> 
> We did have this discussion a while ago. For various reasons I also agree,
> that it is better have the tasks separated.
> In spacebot we used a tilt_scan module 
> https://gitorious.org/rock-slam/orogen-tilt_scan
> which sees the servo as a unit with the laser scanner. 
> 
> The interface::Servo should go and not be used again. Same as the
> drivers::Dynamixel.
> On the matter of removing them from the code now... At some point we have to
> remove them, but there should be a long enough transition period.
So, projects, which use a dynamixel servo without a laser scanner have
to reimplement the driver then?
> 
> Cheers,
> 
> Jakob
> 
> 
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> Rock-dev at dfki.de
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-- 
 Dipl.-Phys. Moritz Schilling
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