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I guess, i've found a possible solution in the new rock
documentation:<br>
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<a
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<br>
It's possible to set a deployment hint for the models in roby. (It
seems it runs without an error if<br>
a deployment hint is also applied to a concret device / task). In my
example something should be possible:<br>
<br>
Cmp::DualSonar.use('sonar' =>
SonarTritech::Micron.use_deployments(/sonar/)) <br>
<br>
(not tested it)<br>
<br>
On 21.05.2012 16:35, Chris Müller wrote:
<blockquote cite="mid:4FBA52C2.1030005@dfki.de" type="cite">
<pre wrap="">Hi,
Thomas has asked me about an interesting use case in defining a
composition in roby. Here is a simplified description about the problem.
Assume the following setup:
# deployments
simple_deployment("sonar", "sonar_tritech::Micron")
simple_deployment("sonar_rear", "sonar_tritech::Micron")
# compositions
composition 'DualSonar'
add SonarTritech::Micron, :as => 'sonar'
add SonarTritech::Micron, :as => 'sonar_rear'
end
The final question is how can we map the Micron task from deployment
"sonar" directly
to place holder for the 'sonar' task in the DualSonar composition.
On our AUV Avalon we have a similar use case, where we distinguish two
sonar devices from the same driver and it seems it maps magically in the
correct order. (never met any problem by roby).
I don't know if the :as flag is influencing the mapping mechanism for
the right deployment or only the order of deployment declarations is
relevant.
In the experiments it wouldn't be a problem because each task in the
composition is configured through the :as identifier. But after a few
thoughts i would currently not exclude a situation where the deployment
"sonar" is configured and used for the "sonar_rear" task.
Does anyone have some more experiences with this use case? (Matthias,
Janosch?)
Chris
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</pre>
</blockquote>
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