[Rock-dev] joint_dispatcher

[Dennis Mronga]

Hi,

I recently stumbled across the joint_dispatcher component, which 
"nearly" seems to be what I need. However, it seems a bit complicated to 
configure and I think it does not cover the following cases:

1. Send only a subset of all available joints to the input ports and 
dispatch them correctly to the outputs, instead of always expecting all 
available joints. Right now, the component crashes with an unhandled 
exception, if you do not send all joints to the input port.

2. Get input from different sources and dispatch arbitrary subsets of 
the inputs. E.g. if you have the joint state of the wheels and the joint 
state of the manipulator as inputs and you want to output the port 
"odometry" containing only the wheels, "manipulator" containing only the 
manipulator and "full_joint_state" containing all joints.

Generally I think it would be nicest, if you just have to configure the 
input and output ports with the corresponding joint names and the 
distribution of the joint states is done by the component according to 
the joint names. However, I think that would reduce a bit the 
capabilities of the component!?

Before creating a branch and adding the functionality that I need, I 
would like to know if anyone of you has used the joint_dispatcher and 
has some remarks!?

Dennis

-- 
  Dipl.-Ing. Dennis Mronga
  Researcher

  Hauptgeschäftsstelle Standort Bremen:
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