Does it make sense to add controllers for simple data types, like bool, int or float64?
I'm writing a general hardware interface based on Machinekit HAL. MK HAL is machine control software that connects hardware I/O (e.g. field bus, GPIO, ADC) to virtual 'components' (e.g. encoder, PWM, PID) running in a realtime context. Currently, the main applications have been CNC machine tools, and others range from autoclaves to robot arms.
The current joint, etc. controller types in this repo are a great match for MK HAL. In addition to these, many real-world HAL configurations also expose simple interfaces to things like a door open switch bool input, a coolant pump on bool output, or a thermocouple temp float input. If controllers for these simpler signals were available, this hardware interface could be a one-stop shop for easily connecting ROS to the wide variety of hardware that MK HAL supports.
My questions are:
Does it make sense to use ros_control for simple signals like bool, int or float64?
If so, would these controllers be welcome in this repo?
Does it make sense to add controllers for simple data types, like
bool
,int
orfloat64
?I'm writing a general hardware interface based on Machinekit HAL. MK HAL is machine control software that connects hardware I/O (e.g. field bus, GPIO, ADC) to virtual 'components' (e.g. encoder, PWM, PID) running in a realtime context. Currently, the main applications have been CNC machine tools, and others range from autoclaves to robot arms.
The current joint, etc. controller types in this repo are a great match for MK HAL. In addition to these, many real-world HAL configurations also expose simple interfaces to things like a door open switch
bool
input, a coolant pump onbool
output, or a thermocouple tempfloat
input. If controllers for these simpler signals were available, this hardware interface could be a one-stop shop for easily connecting ROS to the wide variety of hardware that MK HAL supports.My questions are:
bool
,int
orfloat64
?