[Rock-dev] Dynamic Ports in Task Model

[Moritz Schilling]

Hi there,


On 14.10.2016 11:29, Martin Günther wrote:
> Hi all,
>
> On 14.10.2016 10:46, Raul Dominguez wrote:
>> What if the number of ports is dynamic? I don't know of an existing
>> case.
> Robot_frames
> (https://github.com/rock-control/control-orogen-robot_frames) does that.
> It reads an URDF and creates one dynamic RigidBodyState output port for
> each joint in the URDF.
>
> Transformer does a similar thing on the transformation_monitor branch:
And they dont need to do that, because the robot model is known at 
compile time.
Another approach would be to introduce Task templates which are used 
together with other information to define a specialized version of a task.
An example would be a Transformer template which uses URDF information 
to define a specific Transformer for a specific robotic system.
> https://github.com/rock-core/drivers-orogen-transformer/blob/89f0428a8668687f15b6ff84d9da524eed5b6c2c/transformer.orogen#L45
>
> Cheers,
> Martin
Have a nice weekend,

Moritz
>
>
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  Dipl.-Phys. Moritz Schilling
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