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Improve resource claiming for Cartesian command handles #1

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fmauch opened this issue Jun 10, 2021 · 0 comments
Open

Improve resource claiming for Cartesian command handles #1

fmauch opened this issue Jun 10, 2021 · 0 comments
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enhancement New feature or request

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@fmauch
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fmauch commented Jun 10, 2021

Disclaimer: Copied from fzi-forschungszentrum-informatik/cartesian_ros_control#12

The current implementation of Cartesian command handles allows to run joint-based and Cartesian-based ROS-controllers in parallel (see e.g. here). While technically they do not claim the same resources and hence could run in parallel regarding the ROS-Control philosophy, some drivers go for an either-or-approach.

Let's rethink resource handling for these cases.
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