[Rock-dev] Dynamic Ports in Task Model

[Moritz Schilling]

On 14.10.2016 15:22, Sylvain Joyeux wrote:
>> 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.
> Even assuming that it would be true (and others in this thread gave
> you reasons why it is not so), requiring codegen for everything that
> looks like a dynamic feature is shooting yourself in the foot. Codegen
> is not a silver bullet. It's actually a fairly horrible-to-maintain
> mean to put models in systems.
>
> I usually prefer to use "modelling time" instead of "compile time".
I agree. Actually I thought of 'modelling time' :)
> Having a transformer that does no "transform chain discovery" and that
> does not depend on demultiplexing a unknown stream of transformations
> is definitely on my list. The components would still be dynamic (ports
> created at configure time, transform trees created at configure time)
> but the knowledge extracted from the model is given to the component
> instead of being guessed.
This is ok, when you only consider components living in an environment 
in which dynamic port creation/destruction is possible and/or easy to do.
If you also consider other environments this might not be possible and 
would rely on code gen.
Maybe its also solvable by allowing dynamic connections (but not dynamic 
ports) between components (?).

Regards,

Moritz
>
> Sylvain
>
> On Fri, Oct 14, 2016 at 7:56 AM, Moritz Schilling
> <moritz.schilling at dfki.de> wrote:
>> 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
>>   Space Robotics
>>
>>   Hauptgeschäftsstelle Standort Bremen:
>>   DFKI GmbH
>>   Robotics Innovation Center
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>>   28359 Bremen, Germany
>>
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-- 
  Dipl.-Phys. Moritz Schilling
  Space Robotics
  
  Hauptgeschäftsstelle Standort Bremen:
  DFKI GmbH
  Robotics Innovation Center
  Robert-Hooke-Straße 1
  28359 Bremen, Germany

  Tel.:     +49 421 178 45-6601
  Zentrale: +49 421 178 45-0
  Fax:      +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
  E-Mail:   moritz.schilling 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
  -----------------------------------------------------------------------