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TODO.md

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Roadmap

This is a yet incomplete list of features which are planned for the future. Feel free to contact me you have any further ideas or if you want to contribute code.

Short-term

  • Bridge: Rename ros_bridge to something that is not as easily confused with the rosbridge (http://wiki.ros.org/rosbridge_suite), e.g. kacanopen_ros
  • Bridge: Implement a ROS service for accessing any dictionary entry of a slave by name.
  • Bridge: Subscribers / Publishers: Allow configuration of queue_size.
  • Bridge: Trigger publishing on entry change.
  • Core: Automatically map PDOs like they are configured in slave's dictionary.
  • Core: Add methods for manipulating PDO mapping configuration in slave's dictionary.
  • Core: Add ability to remove/change existing PDO transmitters / receivers / mappings.
  • Master: Device: Add methods print_operations(), print_constants() and read_complete_dictionary().

Long-term

  • Master: Make master a CiA 301 compliant node. This means it has to implement some slave functionality. Changes in core library are necessary in order to parse SDO request messages.
  • Project: Implement a slave node library.
  • Project: Check thread safety. Should be achievable with very few changes (mutexes on driver and callback vectors).
  • Bridge: Have a look into ros_control. Can we use it for controlling CiA 402 devices?
  • Core: Support multiple device profiles per slave.
  • Core: Improve error handling.
  • Core: Implement missing protocol parts like LSS, EMERGENCY and SYNC master.