API review

Proposer: Sachin Chitta

Present at review:

• Tully
• Gil
• Kaijen
• Matei
• Melonee

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.

Melonee

• stack name doesn't follow the rest of the naming conventions, pr2_kinematics might be a better name

• "Click here to file a bug report" is broken
• there should be some info concerning stability of the stack
• don't repeat the stack.xml description under documentation. Give a more meaningful description or none at all.

Matei

• The "seed" positions for IK
  • how strong of a hint is it?
  • seems very vague, as a user I feel that I have little control over what happens with my request.
  • if I have no hint whatsoever, what do I do? Passing all zeroes means arbitrarily biasing the search towards some particular solution with no good reason. Is a hint absolutely needed because of the inner workings of the algorithm, or can we do without one?
  • if a solution does exist, but my hint is bad, will this negatively affect the search time?

Meeting agenda

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

Conclusion

Stack status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved

• Rename stack to pr2_kinematics - DONE

• Fix Wiki links

• Add constraints to GetCollisionFreeIK, not to the normal one - DONE

• Add a different service for other requirements - arm_navigation 0.2
• More documentation on how the solver actually works

• Message - GetPositionIK and rename GetCollisionFreePositionIK to GetConstrainedPositionIK - DONE

• rename package to pr2_arm_ik_constraint_aware - DONE