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

[Alexander Duda]

On 12/11/2013 02:25 PM, Jakob Schwendner wrote:
>> 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?
> The use case would be to change the max speed value for the servo, without
> having to restart. E.g. your source component only provides positions, but
> not speeds, and you want to set the speed depending on e.g. some sort of
> system state. Using an input port here wouldn't do justice to the nature of
> the data, I think. As Matthias pointed out, this seems to be a safe thing to
> do now, and is meant for exactly these cases.
I have my doubt here.
* basically, you want to combine two commands (speed and position) with 
the help of dynamic properties which sounds kind of bad.
* if you have a system state change you most-likely reconfigure your 
hole network anyway.
* dynamic properties make it incredible complex to test your components
* there is no logging if you change properties from vizkit
* we have no tooling allowing to reconfigure tasks dynamically according 
to log files

For me the hole dynamic property thing is a really bad idea and not 
needed in 99% of the cases.

Alex

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Dipl.-Ing. Alexander Duda
Unterwasserrobotik
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