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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