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Auterion / px4-ros2-interface-lib

Library to interface with PX4 from a companion computer using ROS 2
BSD 3-Clause "New" or "Revised" License
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Feature request: Allow for mode executors to activate other mode executors #40

Open frnyb opened 5 months ago

frnyb commented 5 months ago

Thank you for great work. This is the future.

As the title suggests. This would significantly enable open source sharing and modularization of systems, as it would allow a system to be reused simply by running it and activating the corresponding mode executor. It should therefore come along with the option for mode executors to "finish", and then for other mode executors to reactivate on a finished mode executor. It would allow sharing functionality without the user having to reimplement the internal mode switching logic contained in the mode executor.

What are your thoughts?

bkueng commented 4 months ago

Good input. I considered this when designing the current logic and ended up discarding it because it adds a lot of complexity (the need for hierarchical management, and how a user can interact with it), while something similar is already possible by separating a mode into different tasks. I won't object though if someone comes up with a nice design and implementation for a hierarchy.