kroshu/kuka_drivers

Adapt to conventions

Svastits opened this issue · 11 comments

Svastits commented
Adapt to conventions
Groebehavn commented

kuka_[RobotOS_name]_[RT_Tech_Name]_driver.
E.g.: kuka_kss_rsi_driver

  • 👍1
Groebehavn commented

Inside src:
hw_interface.cpp
control_node.cpp

Groebehavn commented

Clean-up Sunrise driver as it is confusing :)

Groebehavn commented

Please provide thorough README.

Svastits commented

kuka_sunrise_interfaces -> kuka_sunrise_msgs

UPDATE: should not be changed

Svastits commented

the control_nodes for the 3 OS types could be combined somehow, as they have the same function

Svastits commented

create metapackage

gavanderhoorn commented

kuka_sunrise_interfaces -> kuka_sunrise_msgs

just noticed this one.

_msgs is the ROS 1 convention.

_interfaces is ROS 2.

The rationale being that _msgs packages typically also contain definitions for .srv and .action (and with ROS 2, sometimes even .idl directly), and just using the _msgs suffix doesn't convey that fact.

Hence _interfaces was chosen as it's more generic (even though all of those are still "messages", just messages for a different purpose).

(tbh, personally I don't like it too much, as it's confusing for anyone with a background in programming languages which actually have an interfaces concept, but I understand why the name was chosen)

  • 👍1
Svastits commented

rename RobotState msg to FRIState

Svastits commented

visibility macros should be used for all hardware interfaces

Svastits commented

Renamings done, opening new issue for proper documentation