All,
Firstly I'd like to thank you all for the positive feedback the original
post received. As next steps, it seems that the Willow Garage / hiDOF
implementation is a good starting point, as it already allows:
- Loading controllers as plugins, and serializing their execution in a
single thread.
- Creating controllers with arbitrary hardware interfaces.
I'll be giving this a test-drive, with the immediate steps being to:
- Write an Orocos 2.6 based component that leverages the controller_manager
library.
- Trigger each controller with a dedicated, configurable timer event to
allow each controller to have its own update rate. This timer event should
be compatible with deployment in hard-realtime and simulated clock contexts.
Best,
--
Adolfo Rodríguez Tsouroukdissian
Senior robotics engineer
adolfo.rodriguez@pal-robotics.com
http://www.pal-robotics.com
PAL ROBOTICS S.L
c/ Pujades 77-79, 4º4ª
08005 Barcelona, Spain.
Tel. +34.93.414.53.47
Fax.+34.93.209.11.09
Skype: adolfo.pal-robotics
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http://www.facebook.com/palrobotics1> -
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http://www.youtube.com/user/PALRobotics>
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