[Rock-dev] make moving speed configurable in orogen-servo_dynamixel / dynamixel

[Alexander Duda]

On 12/11/2013 02:04 PM, Jakob Schwendner wrote:
>> -----Original Message-----
>> From: Matthias Goldhoorn [mailto:matthias.goldhoorn at dfki.de]
>> Sent: Mittwoch, 11. Dezember 2013 13:43
>> To: Jakob Schwendner
>> Cc: Dennis Mronga; rock-dev at dfki.de
>> Subject: Re: [Rock-dev] make moving speed configurable in orogen-
>> servo_dynamixel / dynamixel
>>
>> On 11.12.2013 13:17, Jakob Schwendner wrote:
>>>>> I would like to have the possibility to set the moving speed of a
>>>>> servo
>>> at configuration time. Right now it is set to 1023 by default and has
>>> to be changed via the command input port, which does not fit our
>>> needs.>>  Same goes for the torque limit.
>>>>> If there are no objections, I would like to add two new members
>>> "moving_speed" and "torque_limit"  to  ServoConfiguration and make the
>>> respective changes in the orogen component
>>>> If noone disagrees please use a dynamic property for this.
>>>>
>>>> property('bla','type',default).dynamic
>>>>
>>>> this will create setter/getter functions
>>> This would be quite out of line with the current way of configuring
>>> the component (e.g. using the name vector / value vector scheme)...
>>> Or, maybe I don't understand your point so well.
>> Maybe i missunderstood tot,
>> i only suggested if you add a property which you want to change (or which
>> CAN be changed) during runtime, add the .dynamic to it.
> Ah... yes, then I did misunderstand you. Thanks for pointing it out, it
> would indeed be a good case for a property flagged as dynamic.
>
> Cheers,
>
> Jakob
>
Our policy is:
* stop the component
* reconfigure it via properties
* restart the component

In some special cases if there is no other way than changing properties 
while the component is running the dynamic properties should be used. 
Can you please point out why this is the case here?

Alex


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Dipl.-Ing. Alexander Duda
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