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

[Jakob Schwendner]

> > 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?

Absolutely not. The driver library is still the same. The only thing that changed is the orogen component.
Drivers/dynamixel - driver library has not changed, and is there to stay.
Drivers/orogen/dynamixel - old module. Only supports single servo per bus. Contains sweeping code. Deprecated and should not be used anymore.
Drivers/orogen/servo_dynamixel - new module. Supports multiple servos per bus and is generally better configurable. Also uses the new base::Joints type. Does not contain sweep functionality. 

The discussion was on sweep functionality, which in most cases comes with a tilt unit, hence its in the tilt_scan module. But could be argued, that it should be separated....

Cheers,

Jakob