search

Robotic-Decision-Making-Lab / blue

ROS 2 platform for underwater robotics research and development.
https://robotic-decision-making-lab.github.io/blue/
MIT License
44 stars 10 forks source link

[FEATURE]: Remove controller arming from passthrough mode service call #13

Closed evan-palmer closed 1 year ago

evan-palmer commented 1 year ago

Feature Type

Changing existing functionality in the BlueROV2 driver

Problem Description

The current implementation of the passthrough service enables/disables the controller. This can be a bit confusing, and also limits the types of controllers that can be implemented.

Feature Description

Remove the controller arming service call from the passthrough mode configuration service.

Alternative Solutions

There are a few solutions that should be considered when determining how to best expose the passthrough mode and the controller arming. The first solution could be to simply lump all of these together as is done now into a service with a more descriptive name. As mentioned above, however, this makes it difficult to create new controllers that don't want thruster-level control. A second alternative is to reconsider the service naming to make it easier to determine the entrypoints for the system. The final option is to leave the naming as-is.

Additional Context

No response

evan-palmer commented 1 year ago

After reconsidering this (I was exhausted and traveling), I don't think that this restricts the types of controllers that can be implemented, but it is still confusing to use and should be separated into two steps