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<p>Hi there,<br>
</p>
<br>
<div class="moz-cite-prefix">On 14.10.2016 11:29, Martin Günther
wrote:<br>
</div>
<blockquote cite="mid:48d88069-cddd-04e3-9879-3fec0e88191f@dfki.de"
type="cite">
<pre wrap="">Hi all,
On 14.10.2016 10:46, Raul Dominguez wrote:
</pre>
<blockquote type="cite">
<pre wrap="">What if the number of ports is dynamic? I don't know of an existing
case.
</pre>
</blockquote>
<pre wrap="">
Robot_frames
(<a class="moz-txt-link-freetext" href="https://github.com/rock-control/control-orogen-robot_frames">https://github.com/rock-control/control-orogen-robot_frames</a>) 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:
</pre>
</blockquote>
And they dont need to do that, because the robot model is known at
compile time.<br>
Another approach would be to introduce Task templates which are used
together with other information to define a specialized version of a
task.<br>
An example would be a Transformer template which uses URDF
information to define a specific Transformer for a specific robotic
system.<br>
<blockquote cite="mid:48d88069-cddd-04e3-9879-3fec0e88191f@dfki.de"
type="cite">
<pre wrap="">
<a class="moz-txt-link-freetext" href="https://github.com/rock-core/drivers-orogen-transformer/blob/89f0428a8668687f15b6ff84d9da524eed5b6c2c/transformer.orogen#L45">https://github.com/rock-core/drivers-orogen-transformer/blob/89f0428a8668687f15b6ff84d9da524eed5b6c2c/transformer.orogen#L45</a>
Cheers,
Martin
</pre>
</blockquote>
Have a nice weekend,<br>
<br>
Moritz<br>
<blockquote cite="mid:48d88069-cddd-04e3-9879-3fec0e88191f@dfki.de"
type="cite">
<pre wrap="">
</pre>
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<br>
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</pre>
</blockquote>
<br>
<pre class="moz-signature" cols="72">--
Dipl.-Phys. Moritz Schilling
Space Robotics
Hauptgeschäftsstelle Standort Bremen:
DFKI GmbH
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