[Rock-dev] Apropos base/orogen/interfaces

[Stefan Haase]

Back from holiday I just realized that the SpaceBot does not move anymore.

What we did:

Orocos.run 'spacebot_simulation' do
>  # ACTUATORS
>     actuator_mov_names = ["rear_left", "rear_left_turn", "middle_left",
> "middle_left_turn", "front_right", "front_right_turn",
>             "front_left", "front_left_turn", "rear_right",
> "rear_right_turn", "middle_right", "middle_right_turn"]
>     actuator_mov_indices = [-1, 2, -3, 4, 5, 6, -7, 8, 9, 10, 11, 12] #
> Disable actuator by using 0, invert by using a negative index.
>
>     actuators = TaskContext.get 'mars_actuator'
>     actuators.names = actuator_mov_names
>     if not actuators.dispatch("spacebot_mov_actuators",
> actuator_mov_indices) # Has to be executed before configure
>         puts "Actuators could not be dispatched (not available in the
> scene file?), exit"
>         exit 1
>     end
>     actuators.configure
>     actuators.start
>     # CONNECT PORTS
>
> controller.actuator_mov_cmds_out.connect_to(actuators.cmd_spacebot_mov_actuators)
>     Readline::readline("Press ENTER to exit ...")
> end


Does anyone have a similar simple example how to use the new interfaces /
the new actuator-interface?

Best regards,
Stefan



2013/5/14 Sylvain Joyeux <sylvain.joyeux at dfki.de>

> On 05/14/2013 10:56 AM, Matthias Goldhoorn wrote:
> > To cover the point "keep portnames the same", whats about extending
> > orogen for interface-only definitions. (without Implementation). Only
> specs?
> I remember now that it was what we discussed with Jakob.
>
> My problem with adding even more things like that is that it makes
> entering rock even more complex (one more concept !). I am wondering
> about the cost/benefit here.
> --
> Sylvain Joyeux (Dr.Ing.)
> Space & Security Robotics
>
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-- 
 Dipl.-Inf. Stefan Haase
 Space Robotics and Animation

Standort Bremen:
 DFKI GmbH
 Robotics Innovation Center
 Robert-Hooke-Straße 5
 28359 Bremen, Germany

 Phone: +49 (0)421 178 45-4108
 Fax:   +49 (0)421 178 45-4150
 E-Mail: Stefan.Haase at dfki.de

 Weitere Informationen: http://www.dfki.de/robotik
 -----------------------------------------------------------------------
 Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
 Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
 Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
 (Vorsitzender) Dr. Walter Olthoff
 Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
 Amtsgericht Kaiserslautern, HRB 2313
 Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
 USt-Id.Nr.:    DE 148646973
 Steuernummer:  19/673/0060/3
 -----------------------------------------------------------------------
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