API review

Proposer: Sachin Chitta

Present at review:

• List reviewers

What to review

This is the action API for move_arm which is a node analogous to move_base. The action goal is essentially a wrapper around the GetMotionPlan request while the feedback contains the error codes for when something goes wrong. This review will focus on the action messages documented on the wiki page here.

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.

Wim

• MoveArmGoal: Is this the message that users will need to control the move arm stack? This is a very complex message to use. A lot of the fields in the message could be moved to the configuration of the move arm node. If you compare this to the arm controller, we also don't specify the control gains in the message, but they are part of the configuration of the controller. I think this interface could become much more user friendly be reducing the number of fields.

• MoveArmFeedback: is the state field meant to be machine readable, or just user feedback? If you want the action client to interprete the state, it would be better to make this an enum.

Tully

• Shouldn't the error codes be in the result?

Meeting agenda

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

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved

• Put a "You can leave this out" comment into the goal.
• change time to duration
• Where does the group name come from - mention in comments
• Feature request - specify joint limits on the fly

• Change MoveArmGoal to contain GetMotionPlan::Request

• Change uint32 options to bools.
• Error code should be in the result and not in the feedback.
• Switch state in feedback to an enum