{"action":"opened","issue":{"url":"https://api.github.com/repos/ros-industrial/ros_canopen/issues/187","repository_url":"https://api.github.com/repos/ros-industrial/ros_canopen","labels_url":"https://api.github.com/repos/ros-industrial/ros_canopen/issues/187/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/ros_canopen/issues/187/comments","events_url":"https://api.github.com/repos/ros-industrial/ros_canopen/issues/187/events","html_url":"https://github.com/ros-industrial/ros_canopen/issues/187","id":165133420,"number":187,"title":"Composite chain node","user":{"login":"ipa-mdl","id":727227,"avatar_url":"https://avatars.githubusercontent.com/u/727227?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-mdl","html_url":"https://github.com/ipa-mdl","followers_url":"https://api.github.com/users/ipa-mdl/followers","following_url":"https://api.github.com/users/ipa-mdl/following{/other_user}","gists_url":"https://api.github.com/users/ipa-mdl/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-mdl/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-mdl/subscriptions","organizations_url":"https://api.github.com/users/ipa-mdl/orgs","repos_url":"https://api.github.com/users/ipa-mdl/repos","events_url":"https://api.github.com/users/ipa-mdl/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-mdl/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2016-07-12T17:24:13Z","updated_at":"2016-07-12T17:24:13Z","closed_at":null,"body":"Instead of virtual inheritance profile-specific layers could be added via plugin-based profile handlers.\r\nThe would allow mixed sensor/actor chains in one ROS node.\r\n\r\nSo each node entry in config could contain a list of profile specific chains:\r\n```YAML\r\nnodes:\r\n  - name: node1\r\n    id: 1\r\n    eds_pkg: my_config_package # optionals package  name for relative path\r\n    eds_file: \"my_config.eds\" # path to EDS/DCF file\r\n    chains: [canopen_motor_node::RosControl402Chain]\r\n```\r\n"}}
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