base_local_planner/Reviews/2009-10-06 Doc Review

Reviewer:

Instructions for doing a doc review

See DocReviewProcess for more instructions

1. Does the documentation define the Users of your Package, i.e. for the expected usages of your Stack, which APIs will users engage with?
2. Are all of these APIs documented?
3. Do relevant usages have associated tutorials? (you can ignore this if a Stack-level tutorial covers the relevant usage), and are the indexed in the right places?
4. If there are hardware dependencies of the Package, are these documented?
5. Is it clear to an outside user what the roadmap is for the Package?
6. Is it clear to an outside user what the stability is for the Package?
7. Are concepts introduced by the Package well illustrated?
8. Is the research related to the Package referenced properly? i.e. can users easily get to relevant papers?
9. Are any mathematical formulas in the Package not covered by papers properly documented?

For each launch file in a Package

1. Is it clear how to run that launch file?
2. Does the launch file start up with no errors when run correctly?
3. Do the Nodes in that launch file correctly use ROS_ERROR/ROS_WARN/ROS_INFO logging levels?

Concerns / issues

Stu

• Remove from package summary: "(the convex requirement is to keep the code as efficient as possible)" This should go into the details later.
  • Done
• "Pick the highest-scoring trajectory and apply the associated velocity." The word "apply" is not precise enough.
  • Reworded this
• "In practice however, we **** DWA and Trajectory Rollout to perform comparably in all our tests"
  • Inserted the word find here
• "designed to be instantiated within a ros::Node"

  • Change ros::Node to "ROS node", as you're not referring to an actual class.

    • Changed
• Explain why minimum velocities need to be specified (the robot won't overcome friction...)
  • Added an explanation

• I don't understand the holonomic_robot parameter. How do you actually change the command when the robot is no longer considered to be holonomic?

  • Added an explanation
• It's difficult to know what to do with all the trajectory scoring parameters. Could you give the equation for how they fit together into a cost function?
  • Added the cost function to the trajectory scoring parameters section.

Conclusion