> > The interface::Servo should go and not be used again. Same as the > > drivers::Dynamixel. > > On the matter of removing them from the code now... At some point we > > have to remove them, but there should be a long enough transition period. > So, projects, which use a dynamixel servo without a laser scanner have to > reimplement the driver then?
Absolutely not. The driver library is still the same. The only thing that changed is the orogen component. Drivers/dynamixel - driver library has not changed, and is there to stay. Drivers/orogen/dynamixel - old module. Only supports single servo per bus. Contains sweeping code. Deprecated and should not be used anymore. Drivers/orogen/servo_dynamixel - new module. Supports multiple servos per bus and is generally better configurable. Also uses the new base::Joints type. Does not contain sweep functionality. The discussion was on sweep functionality, which in most cases comes with a tilt unit, hence its in the tilt_scan module. But could be argued, that it should be separated.... Cheers, Jakob _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
