hellantos
commented
1 year ago Seems to be only ipa that is using this feature in ros1. Let's put this into backlog and keep factors for now. This would require keeping another object dictionary with double values upto date and I currently do not see the use case.
Is your feature request related to a problem? Please describe. In ros_canopen it is possible to specify position, velocity and effort conversions using muparser. This is interesting for more complex drives.
Describe the solution you'd like muparsers should be integrated in canopen_402_driver similar to https://github.com/ros-industrial/ros_canopen/blob/eaaf0a17b928db679215ddc9c3da1daaa6aa656c/canopen_motor_node/src/handle_layer.cpp
Example for scaling formulas: https://github.com/ipa320/cob_robots/blob/kinetic_dev/cob_hardware_config/robots/cob4/config/cob4_base_driver.yaml