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

[Sylvain Joyeux]

On 12/11/2013 02:14 PM, Matthias Goldhoorn wrote:
> Dynamic properties were introducer where --- during runtime a 
> configuration change is allowed
> For a Servo if your change your system design you might during runtime 
> change some allowed ranges.
That's true. However, it does not explain why *in this case*, doing so
with a dynamic property would be better than with task reconfiguration

As Alex pointed out, dynamic properties have a cost on the component
implementation's complexity as well as on compilation times. I
personally feel that we should restrict them to the cases where it
really makes sense.

Exposure on a camera ? Makes sense ! You want to do be able to do
dynamic exposure. Or maybe a port would be better there ?

Maximum speed on a servo ? I personally don't feel that it makes sense.
If you want a dynamic speed, you can already put it in the JointState.

-- 
Sylvain Joyeux (Dr.Ing.)
Senior Researcher

Space & Security Robotics
Underwater Robotics

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