Many robotic components need initialization (e.g. homing) procedures to be ready to use.
Also, the components need to be able to recover themselves after an unexpected event, e.g. an emergency stop.
In ROS1, services are often used for this, and they are calling methods directly in hardware_interface. This is actually something which could be managed by the controller manager or at least the top-level robot interface to make it transparent throughout whole control chain.
destogl
commented
1 year ago
Many robotic components need initialization (e.g. homing) procedures to be ready to use. Also, the components need to be able to recover themselves after an unexpected event, e.g. an emergency stop.
In ROS1, services are often used for this, and they are calling methods directly in
hardware_interface. This is actually something which could be managed by the controller manager or at least the top-level robot interface to make it transparent throughout whole control chain.