A CRTK client needs a way to retrieve which CRTK commands are supported for a given device. Using ROS, we could enumerate the topics and services within a namespace but this is not portable for any non-ROS CRTK implementation.
We propose to add two ways to query which commands are available:
has_feature
Query for a single feature (string) and returns a boolean
Implemented as a service on ROS
features
Query all features available (list or vector of strings)
A CRTK client needs a way to retrieve which CRTK commands are supported for a given device. Using ROS, we could enumerate the topics and services within a namespace but this is not portable for any non-ROS CRTK implementation.
We propose to add two ways to query which commands are available:
has_featurefeatures