> there is some confusion regarding the difference between
> position_power_config and the state option in position_comamnd.
> 1) what is the expected behavior when motors were turned off by config
> request, and a movement command follows?
> should i move or not?
> 2) when i receive a position command and state is set off (0) , should
> i stop any movement?
My understanding is that they are basically the same, but that the
'state' field in the command is deprecated, and the config request is a
better way to do that kind of thing in Player. I may be wrong about
Based on what other drivers do, I would stop movement (not neccesarily
stopping immediately, but decelerating to 0; some robots have brakes and
maybe we should have a new request or command for that at some point),
and ignore all subsequent velocity commands until either the config
request OR the state field in the command are again 1. (So even if you
always use 0 in the command, you can send a power config to turn on
motors and it would drive, but if you sent a config to turn off motors,
but then started using 1 in the command, it would also drive). Stage
and the P2OS driver (it seems) ignore the 'state' field in the command.
Stage accepts the config request but explicitly ignores it (with a
warning). I guess this might be implemented someday, but it also makes
Stage easier for casual use not to have to worry about turning the