Description
Feature Type
Adding new functionality to Angler
Problem Description
Emir provided a nice presentation recently on his work with mvp_control available for viewing here and mentioned that they use PluginLib for to manage implementation of behaviors in their state machine. I thought this was a nice idea and might fit well into the task model used by TPIK control. That could make it a bit easier to maintain and implement new tasks as well.
Feature Description
Explore implementing the TPIK control tasks using PluginLib. Each task would be implemented as a plugin and loaded on launch. I don't think that dynamically loading and unloading plugins during control makes sense due to how frequently the tasks reorganize in set-based TPIK control. Instead, it might be good to think of a way to design the base plugin such that it is able to interact directly with the TPIK controller without being unloaded.
Alternative Solutions
N/A
Additional Context
Here is the link to mvp_mission which implements the behavior-style architecture