WARNING: The name of this module is actually wrong. It is rather a subscriber than a publisher...
Listens to mca_control_mode which is provided by hollie_high_level_control
that selects:
CONTROL_MODE : 0/1 START_TRAJECTORY: 0/1 MOVE_UPPER_BODY_IN_JOINT_MODE: 0/1 MOVE_PLATFORM_IN_JOINT_MODE: 0/1
The control modes provide in hollie_high_level_control select some of this flags.
It also publishes on mca_status but that is just garbage.
This is a subscriber (to joint values coming from ROS) and publishaer (sensor joint values coming from MCA).
Provides two interfaces: joint_sensor_values and joint_sensor_values_specific.
Specific uses joint names with the hollie_planning or hollie_real prefix, depending with config file
was loaded for the part.
The general joint_sensor_values is advertised by both real and planning and the joints use the hollie_plain prefix.
I guess this does not create a conflict either real or planning is selected.
It listens to joint_control_values which is provided by FIXME.
It expects that the joints are named in the hollie_plain scheme, at least ros_to_mca_joint_name is setup this way.
The values are transported to MCA using the CO edges of MCA.
"Builds" MCA edge input/outputs from a description list (e.g. you just need to specify you want something name "position" that has 3 coordinates). This is just for convenience.
In trajectory mode the mRosBlackboardAdapter connects to mca_trajectory. It is used by the trajectory interpolator.