API review

Proposer: Stuart Glaser

See:

• joint_trajectory_executer

Present at review:

• List reviewers

Question / concerns / comments

Stu:

• Where should the action interface come up? (xxx = goal/cancel/feedback/result/status)
  • action_name/xxx and get pushed down by the launch files?
  • private_namespace/action_name/xxx (automatically in the private namespace)
  • xxx (all the action topics are in the root namespace, pushed down by the launch files)
  • private_namespace/xxx (action topics in the private namespace, along with other topics)

Matei:

• The list of joints to be controlled is specified in the parameter server, but is also part of the JointTrajectoryGoal message.

  • is this duality necessary?
  • what if they are different?

    • what if the list of joint in the JointTrajectoryGoal message is a subset of those listed on the parameter server?

    • what if I specify a joint in the JointTrajectoryGoal message that is not listed on the parameter server?

  • is it impossible to control a joint if it has not been listed in the parameter server?

  • should one list all joints in the parameter server so that later they have the options of choosing which one to send goals for through the JointTrajectoryGoal message?

• Which stack should this package live in?

Kaijen:

• Please report joint angles in the feedback.

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

• The duplication of joint lists is annoying.
  • It looks like the user has the option of choosing their joints
• The duplication is fine, as long as there are informative error messages.
• Should document: don't bring up controllers that control the same joint
• Stack: pr2_controllers
• Naming:
  • Prefer "executer" to "controller" ("executor")
• Feedback:
  • Violating path constraints or violating goal constraints?
  • How well it's tracking?
  • Maximum error? Average error?
  • Error at each step?
  • What point in the trajectory did you get to (even on aborting)?
    • Does actionlib allow publishing a result on aborting.
• Parameters:
  • "constraint"/"threshold"/"tolerance"? "constraint"

JTE/
  joints: ...
action/goal
action/cancel
...

JTE/
  joints: ...
action/goal
action/cancel
...

r_arm_traj_controller:
  joints:
    - foo
    - bar
  command
  state

r_arm_traj_exec:
  joints:
    - r_shoulder...
  controller_command
  controller_state


r_arm:
  

move_right_arm:
  traj_controller:
  traj_executer:
    goal
    cancel
    feedback
    result
    status
  planning_action:

• "joint_trajectory_action"

move_right_arm: right_arm_trajectory_action_interface_thing:

• Decide on action topics with ROS folks and send around a proposal (Stu)

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved