Switch to libphidget22 about phidgets_drivers

[clalancette]

Thanks for the feedback, it's appreciated. I have some updates to the current code that I'll open PRs for, then I'll start work on the new classes using libphidget22.

[mintar]

Hi Chris, this sounds like a great idea! I'm fine with option 2; it probably means less technical debt. Also option 1 means we would need to invent APIs for the devices not supported by libphidget21, so we would end up with a horrible hybrid.

I suggest you just go with option 2 without regard for backwards compatibility at first, and then we can add node shims that emulate the old interface, only in order not to break compatibility for already released versions. In a future ROS version (Noetic, ROS 2) we can drop the shims. Sounds like a plan?

BTW, I'm on vacation until August 5, so I might be a bit slow to respond.

[mintar]

That's great! Open those PRs whenever they are ready, I'll work on them when I am back.

[clalancette]

Closing this, as it is now merged 🎆