Monitoring Nodes (in general)

[tbohne]

• every monitoring node should be deactivatable + replaceable by other nodes
• implement config options

[tbohne]

• sensor replacement would just be a topic change (for such cases I implement LaserScan + PointCloud2)
• make topics configurable

[tbohne]

dynamic instantiation of monitoring nodes

• e.g. via nodelet manager (nodelet -> small node for modular task -> runs in a thread)
  • nodelet manager is a process that starts several threads (the nodelets)
• e.g. 3 SICK TiMs with 3 topics -> provide list of topics -> per entry create node -> 3 instances of laser scan monitoring node
• e.g. 2x PointCloud2 and 1x LaserScan -> instantiate accordingly
• is essentially a usability question for the monitoring -> nice to have, but not a focus of the work