Hi,
I am a new ROS user and in the group where I am involved, we are 
considering to use ROS as a communication middleware for a mobile 
platform. We have already read the documentation and done the main 
tutorials.

We would like to develop the drivers for the platform and also for the 
different sensors on board. We have checked the hokuyo_node driver 
source code and we've seen that it depends on the classes driver and 
driver_node. We were thinking on developing our drivers following the 
same architecture, by inheriting from these two classes.

However, we have seen in the driver_common wiki documentation that these 
classes are immature and for internal use. We were wondering which is 
the best way to implement our drivers. We would like to avoid data 
publishing without using the driver hierarchy as we have seen in other 
driver implementations.

regards,

Martí

 
____________________________________________________________
Martí Morta Garriga 			  mmorta@iri.upc.edu
Institut de Robòtica i Informàtica Industrial       CSIC-UPC
Llorens i Artigas 4-6, 2a pl.         08028 Barcelona, Spain