[Rock-dev] Assignment of a task to service by profiles

[Christian Rauch]

Doing this would mean, that the action is directly connected to the 
robot, because base_motion sets 'system' => seekur_dev, which is already 
working if I define fwd_025 by base_motion in the ActionInterface.

I want to define actions at one place, where the actions somehow depend 
on a Base::Motion2DControlledSystemSrv. Later on, the task that provides 
this service should be selected by the profile.

I guess to do this, I have to define the actions in a common profile and 
then define the service assignment (e.g. "use 
Base::Motion2DControlledSystemSrv => seekur_dev") in a specialised 
profile (robot, simulation) that includes the common profile.
Is that correct?

Regards,
Christian


Am 05.09.2013 10:36, schrieb Sylvain Joyeux:
> Nope. Different case.
>
> The issue here is that you don't use a definition from your profile, but
> use AModel.as_plan. In the latter case, the use() flags are not picked
> (and most probably will never).
>
> What you should do is simply define fwd_025 in the profile:
>
>    define 'fwd_025', base_motion_def.with_arguments(:translation=>0.25,
> :rotation=>0.0)
>
> because of the bug matthias mentioned, this definition has to be done
> after the use() call.
>

-- 
  Christian Rauch
  Space Robotics

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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