API review

Proposer: Wim Meeussen

Present at review:

  • List reviewers

Question / concerns / comments


  • You are defining parameters "joint_state_topic" and "robot_desc_param". These should be parameter and topic remappings instead:

    •  <remap from="robot_description" to="different_robot_description" />   <remap from="joint_states" to="different_joint_states" /> 

  • Confusing have a robot_state_publisher and a state_publisher. I might rename state_publisher to be robot_state_publisher_node.
  • Documentation
    • Your mainpage.dox links to a JointStateListener. If this is not part of the released API, then remove it from mainpage.dox.

    • Document what the return value of publishTransforms means
    • Document what the "~tf_prefix" does. Or maybe this is an unreleased feature?


  • On the main package page, could you link to something that explains the "tf_prefix" parameter better? You just link to the main tf documentation. Linking to something more specific would be better.
  • Change the documentation of the example launch file to not have the "robot_desc_param" parameter.
  • There are a few corner cases of publishTransforms that I'd like to see documented:
    • What if you give joints that don't exist in the tree?
    • What if you don't give values for all the joints that exist in the tree?

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_state_publisher/Reviews/2009-09-23_API_Review (last edited 2009-09-24 00:53:13 by wim)