Device Interface?

Hi all,

1) I am not sure I understand why Device Interfaces are useful. Let me explain: DI proposes a structure to interface an orocos network with your HW. Now why not using a simple component to do this? i.e. putting all your calls to the HW's API inside a component... That would work equally well, no?

Then in which way DI are useful? And why where they introduced?

2) I am using rtt_ros_integration and I could not find the examples mentioned in the doc (chap 8, section 2.2 of the component manual: "You need to look in the Orocos Component Library for implementations of the Device Interface Examples are Axis and AnalogDrive". Any idea where I can find these?