Integrate controller IO

[bj0rkedal]

This issue is the entry point for further discussion about how to nicely integrate the IO capabilities of RSI, or other approaches to IO control.

Pull request #55 shows a first working example of how IO via RSI can be integrated into the kuka_rsi_hw_interface. Further steps could for instance include a publisher and getter of the IO states and individual control of each IO.

Maybe the integration should happen in an individual ros_control package?
Maybe it's feasible that kuka_rsi_hw_interface should handle the IO interface, and dynamically populate the rsi_command.h XML output?

There are some possibilities, but I guess some are more feasible than others.

[gavanderhoorn]

@bj0rkedal wrote:

Maybe the integration should happen in an individual ros_control package?

That would be ideal I think, if ros_control got a digital_io_controller or something similar (*), and we could hook that up to the RSI capabilities. It would be similar to the joint_state_controller or the imu_sensor_controller, but instead of just broadcasting state, it would also accept commands.

After all: the IO capabilities can be considered a claimable resource that can fit in the read()/write() interaction scheme as designed in ros_control.

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*: I find the naming of these things in ros_control to be unfortunate, but it's what it is.