carrot 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

Vijay

• This definitely needs a picture explaining what a carrot planner is. I think I've seen you draw a very descriptive picture of the carrot planner on paper...
  • Added the picture

• Passive: The CarrotPlanner is initialized with a name from which it creates a namespace for its ROS Parameters.
  

  • Changed the sentence

  Suggestion: The CarrotPlanner reads its ROS Parameters from the namespace name, which is defined during initialization.

• "Does the documentation define the Users of your Package, i.e. for the expected usages of your Stack, which APIs will users engage with?"
  • You need to define this
    • Once again, the ROS API for most users, but C++ for more advanced ones, I'll add a section on this when I have time since I'm not exactly sure how it should look.
• Fix broken sidebar links
  • I really feel that those links shouldn't exist in the first place, I've asked Eric and Ken about this... in the meantime I'll go through soon and generate a bunch of empty pages

Ethan

• Carrot planner needs more documentation. "Legal place to put a carrot" means nothing to someone who doesn't already know what it does (/hasn't watched enough Saturday morning cartoons with carrots on fishing poles). Perhaps say something like: "The carrot planner is a global planner which searches along the line from the goal to the current location for the first feasible point (the robot footprint at that location is not in collision with an obstacle), and returns a plan containing a straight line from the start location to that feasible point."
  • Added an explanation

Vijay (Take 2)

• Looks good! I'm ready to call this package doc-cleared

Conclusion