I have a couple of questions on how to integrate sensor hardware properly into ISAAC or how you would ideally like to see it integrated (in terms of style and quality).
A post of another user from last summer suggests that custom proto messages are currently not “possible”. However, as some sensors deliver information than for example a flatScan message, custom messages are required. Could you please give me guidance how to compile own messages (given I have already setup my own captn proto msgs)?
ISAAC_PARAM allows dynamic manipulation of parameters via web-gui but it seems this mechanism at the codlet does not offer callbacks or dirty-flags I would have to check for each param at each tick if they have been modified, thus duplicating the updatable variable set with previous values (to compare against). Unfortunately, sending the parameter-set (this ‘reconfiguring’) unconditionally at each tick to the sensor is too expensive. So basically my question is whether there is a mechanism I have overseen or if this implementation is as it would be expected.
Is there a request-response-equivalent (like in ROS Services) currently available in ISAAC?
Thank you very much in advance!