[ros-users] [Orocos-users] Joint controller manager

[Adolfo Rodríguez Tsouroukdissian]

On Tue, Jan 29, 2013 at 12:11 PM, Herman Bruyninckx <
Herman.Bruyninckx at mech.kuleuven.be> wrote:

> On Tue, 29 Jan 2013, Adolfo Rodríguez Tsouroukdissian wrote:
>
>              The solution proposed in [1] (see original post for link) uses
>>             a plugin mechanism for
>>             implementing controllers, which enforces single-threaded
>>             execution and passing data by
>>             pointers. It just does not allow the use case of clients
>>             running with different update
>>             policies (lower frequency, non-periodic triggering). How would
>>             you go about this?.
>>
>> Add a timer input port to your component, and let the _scheduling_ be done
>> by the function you attach to that port.
>>
>> Ah, yes, you got me there. A timer that triggers callbacks allows to keep
>> a
>> plugin-based approach with all controllers serialized in a single thread,
>> yet also
>> allows to have different duty cycles. Thanks for sticking my head out of
>> the component
>> mindset here.
>>
>
> If that is the result of my "ranting", I am very happy!


It did not seem a rant, at least not this time ;-)



> Because I have
> learned that a real roboticist _has_ to work within several "paradigms",
> and the component-based paradigm is only one of them :-) What I just
> brought to your attention is from the "operating system paradigm", which
> you are very probably familiar with; that paradigm "conforms to" the more
> generic one of "shared resource management".


Indeed.


> I am interested in learning
> whether there is het another "meta"-level on top of that :-)
>
> Good, keep us posted! We happen to be doing the same thing in house the
> last week(s)... More difficult than I thought at the beginning to get it
> "right" _and_ "reusable" in more contexts than just this one of controller
> management.
>

So, are you also implementing something similar?. Are there any additional
valuable lessons that can be shared?.

>
> More of this will be discussed at the "MDE for robotics" workshop at the
> upcoming European Robotics Forum in Lyon, on March 20th.
>

Noted!.


>
>  Adolfo
>>
>
> Herman
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