ModuleBase allow multiple instances of a module

[dagar]

There are many situations where we need to start more than one instance of an "app". Currently we do this for most drivers, but I also like to consider doing it for things like the wind_estimator or ekf2.

One idea would be giving ModuleBase some concept of instance. You'd use the same entrypoint, but an additional command line option would select the particular instance, likely default to the 1st instance when not specified. This instance number could then correspond to the particular parameters it uses, orb topics subscribed to and orb multi publish instance. Related parameter issue. #8821

Yet another option could be generating separate entry points for each. Something like...

ekf2 start
ekf2_2 start

We could then start using ModuleBase on all of the drivers.

Ideas for how we could approach this scalably?

[dagar]

#12191

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.