> My use case are motor drivers on a bus. > Every once in a while they send me a status packet, for which I generate a > JointState, put it in a base::samples::Joints and send it out the connection. > The idea behind this is to not double code and use the logic in the Joint > dispatcher, to aggregate the single JointStates into a full > base::samples::Joints.
I see the point. I guess what we have to decide is where to collect the joints and make sure they are complete. I guess the dispatcher could be a good place for it. One option would be to flag inputs as dynamic. The arguments I raised in steffen's comments still hold though. I think it would be better if the producer would make sure it generates the joint data its expected to generate (through configuration) and throws when it doesn't. Jakob _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
