All command interfaces are available in `inactive` state

[mcbed]

Hi,
When switching the hardware interface into inactive state, all command interfaces remain available. I would expect that in this case, all states interfaces should remain available but all command interfaces should become disabled or at least HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.
Is there a reason to have it that way, or is it something that needs to be done yet ?

[destogl]

Yes, there are some things that have to be done, but they are quire simple, but not yet implemented. The concept is described in ros-controls/roadmap#51.

So, what has to be done:

• Decide what should be default behavior, i.e., command interfaces available only when active or also when inactive. I think we discussed that in our WG meetings, but I am not 100% sure what was the decision.
• Add support for a new flag into URDF parser, e.g., only_available_when_active or opposite if decided. Check the example here: https://github.com/ros-controls/roadmap/pull/51/files
• Don't change behavior at first but deprecate it, i.e., depending on the flag give warning that behavior will be changed. With this warning, we should also do backport to Humble – so that people change adjusting things timely.
• Decide on the flag if an interface should be added into available list of not in ResourceManager when HW component state is changed.

I hope I didn't miss any information here and the concept is clear what to do. I can support with reviews and tips anyone who wants to implement this.

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This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions]

This issue was closed because it has been stalled for 45 days with no activity.