API review

Proposer: Ken Conley

Present at review:

  • List reviewers

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.

kwc: As with any messages-related review, it's pretty gory. I've proposed and ticketed new manipulation, nav, and visualization message packages to offload some of the messages. I've also proposed to reinstate an experimental_msgs package to contain some future robot_msgs that are not ready for release yet. Of the remaining messages, about half I marked as 'ok' under my own intuition and half I'm still unsure about. robot_msgs has a tricky inclusion criteria that we should perhaps debate, but my general notion was:

  • robot-generic
  • common, shared concepts that are unspecific to a particular stack
  • actual, widespread use
  • stable

As prcore will necessarily need to be our most stable stack, it is important that robot_msgs not be a source of instability.

Naming Issue?:

  • Point vs. Point32 (point is 64-bit)

Messages that depend on deprecated_msgs:

  • OccMap2D (service-only message, can be changed)
  • MapMetaData (service-only message, can be changed)

  • Planner2DGoal (volatile message, can be changed, moving to nav_msgs)
  • Planner2DState (volatile message, can be changed, moving to nav_msgs)
  • Polyline2D (can be changed? moving to visualization_msgs)
  • VisualizationMarker (can be changed? moving to visualization_msgs) (Might be nice if it uses TransformStamped. --Stu)

ok for inclusion, though must be reviewed:

Remove (difficult):

  • Acceleration.msg (Remove. Replaced by Vector3. --Stu)

  • AngularAcceleration.msg (Remove. Also replaced by Vector3. --Stu)

  • AngularVelocity.msg (Remove. Vector3. --Stu)

  • PoseDDot.msg (Remove. Replaced by Twist. --Stu)

  • PoseDot.msg (Remove. Replaced by Twist. --Stu)

  • PoseWithRatesStamped.msg (Replace with a message that uses the Twist msg instead of PoseDot. --Stu)

  • Velocity.msg (Remove. Replaced by Vector3. --Stu) -- I'm not sure I agree with all of this block. Stu's proposals lose a lot of type information. --Tully


Messages to remove or find a home for:

  • VOPose

joint_qualification_controllers http://wgs10.willowgarage.com/trac/personalrobots/ticket/1025


  • Ioan and Sachin will migrate to these, someday. When they do, they can be moved back to robot_msgs

mocap_msgs (phase_space, openrave_planning):

nav_msgs http://wgs10.willowgarage.com/trac/personalrobots/ticket/1024

  • Planner2DGoal
  • Planner2DState

foo_manipulation_msgs http://wgs10.willowgarage.com/trac/personalrobots/ticket/1020:

visualization_msgs http://wgs10.willowgarage.com/trac/personalrobots/ticket/1023

Meeting agenda

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


Package status change mark change manifest)

  • /!\ Action items that need to be taken.

  • {X} Major issues that need to be resolved

Wiki: robot_msgs/Reviews/2009-03_API_Review (last edited 2009-08-14 20:53:52 by localhost)