Joint and motor state in Imotor

ADVRHumanoids / ROSEndEffector

ROS End-Effector package: provides a ROS-based set of standard interfaces to command robotics end-effectors in an agnostic fashion

Apache License 2.0

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Joint and motor state in Imotor #55

Closed torydebra closed 4 years ago

torydebra commented 4 years ago

We need to differentiate the joint and motor states, but I am not sure on how to contort @liesrock HAL structure.

So,

we have IMotor interface, where getjointposition, velocity, effort must be added
In EEHal https://github.com/ADVRHumanoids/ROSEndEffector/blob/0f85390a83e21ac0362b9ecab123f74865a3998c/include/ros_end_effector/EEHal.h#L35-L67

We need to add _motor_position, vel, eff attributes? The setJointPosition must be deleted, so derived class must implement them (as it is now with setMotors***); same for get? Or we keep them and reimplement if neccesary (but in this case, we must put them public...)

torydebra commented 4 years ago

I take the chance of this issue for another doubt I have:

I am implementing a get motorcurrent. We need another fillpublish*** ? we need one for each type of sensors? Should not be better to publish to ros topic these information from hal structures? So, if the concrete hal has the sensor, it will publish something. Now instead universal rosee executor must do fill publish for each sensor and check if this sensor is present... I am a bit confused maybe :D

torydebra commented 4 years ago

For example, fill publish joint states sends commands to joint. But when real hand is used, the command are given with setPosReference, so what is the purpose of this function in this case?

torydebra commented 4 years ago

Closing here, we will solve this problem with hal2 #57