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remove plugins from sensors #29

Closed Karsten1987 closed 4 years ago

Karsten1987 commented 4 years ago

Follow up to #28 as I think it wasn't complete.

I renamed classType to plugin as mentioned here as well as removed the classType from the sensor tag as they don't get dynamically loaded according to #27

bmagyar commented 4 years ago

Good call with the renaming.

Why remove plugin from the sensor tag though? I thought our understanding was along the lines of allowing plugins there hence why we have some arbitrary params in the examples such as

      <param name="frame_id">kuka_tcp</param>
      <param name="lower_limits">-100</param>
      <param name="upper_limits">100</param>
Karsten1987 commented 4 years ago

The plugin's for sensors are loaded within the hardware tag, not the sensor tag. That's the complete point we've discussed and implemented in #27. The "joint" and "sensor" tags are really only representing a logical way (aka handle) to interface these. The hardware components are the actual plugins.

Otherwise I might have missed the complete point, at which point I'd need further clarification. If the sensor tag can have a plugin, why can't the joint tag have one as well?

bmagyar commented 4 years ago

Please work out how you guys would prefer plugin handling for sensors, for the time being I've incorporated the rest of the changes from this PR in #30 and merged them.

destogl commented 4 years ago

As discussed today, we can remove those.

bmagyar commented 4 years ago

alrighty, thanks lads!