Hi all, On 14.10.2016 10:46, Raul Dominguez wrote: > What if the number of ports is dynamic? I don't know of an existing > case.
Robot_frames (https://github.com/rock-control/control-orogen-robot_frames) does that. It reads an URDF and creates one dynamic RigidBodyState output port for each joint in the URDF. Transformer does a similar thing on the transformation_monitor branch: https://github.com/rock-core/drivers-orogen-transformer/blob/89f0428a8668687f15b6ff84d9da524eed5b6c2c/transformer.orogen#L45 Cheers, Martin -- Dipl.-Inf. Martin Günther Researcher DFKI GmbH Robotics Innovation Center Bremen - Außenstelle Osnabrück ICO InnovationsCentrum Osnabrück GmbH Albert-Einstein-Straße 1 49076 Osnabrück, Germany
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