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Robotic-Decision-Making-Lab / blue

ROS 2 platform for underwater robotics research and development.
https://robotic-decision-making-lab.github.io/blue/
MIT License
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[FEATURE]: Use pluginlib for dynamically loading/unloading interfaces #74

Closed evan-palmer closed 5 months ago

evan-palmer commented 1 year ago

Feature Type

Changing existing functionality in the BlueROV2 driver

Problem Description

The current interface requires users to define custom interfaces using some base class without any options to change that class dynamically. The ability to dynamically load classes and interfaces can be quite useful: particularly when debugging controllers and other algorithms

Feature Description

Integrate pluginlib for managing control (if ros2_control isn't integrated) and localization interfaces.

Alternative Solutions

It may ultimately not be necessary to replace the existing interfaces; however, using the standard ROS 2 interfaces would make the project more consistent with other major projects.

Additional Context

No response

evan-palmer commented 1 year ago

This will get broken down into smaller issues, as I work through integrating `pluginlib for each (relevant) interface.

evan-palmer commented 5 months ago

Duplicate of #33 and a smaller issue should be added for the localization framework