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jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
BSD 2-Clause "Simplified" License
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Add mc_rtc::Schema (BETA) #396

Closed gergondet closed 1 year ago

gergondet commented 1 year ago

This PR adds support for defining Schema-like structures within mc_rtc.

The motivation and the implementation are documented in the doc joined to this PR.

I'm introducing it in this state to:

  1. Allow us to start using it in some projects
  2. Use it internally in mc_rtc

It is likely the feature will evolve a bit after merging as it gets more practical use.