Controllers for simple data types, e.g. bool, int, float64

[zultron]

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?

[csibrak]

Hi Zultron!

At first, do you need those components? If 'yes', probably you could make it and share on your github repo.

At last, could you explain your interface concept in details?

Thanks!