API review

Proposer: Josh F

Present at review:

  • Jack O'Quin

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.

  • Stu:

    • The Subscriber and Publisher have radically different APIs. subscribe vs initialize to connect, the publisher requires creating a ros::Publisher and the Subscriber is initialized straight from the NodeHandle.

    • Is it okay to call ros::rt::init() multiple times?

      • [Josh] Yes
  • Jack would it be possible to provide a callback version of subscribe? That could make it more straightforward to convert regular ROS nodes to RT nodes. I'm just imagining polling each subscribed topic in the (presumably real-time) main thread when it calls spinOnce().

    • [Josh] I don't know that this is actually that useful... the requirements of realtime mean this is likely the least of your problems if you're converting a node over. You'd end up having to "poll" each subscriber, calling the callback if necessary instead of returning the message, which doesn't seem like a big win to me. If you can come up with a need for it I can look into it but definitely not for the initial release.
  • Josh should this move from the ros::rt namespace into the rosrt namespace?

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

  • * /!\ Change ros::rt
    to rosrt::
  • /!\ Make publisher always copy messages from pool

  • /!\ Add simple constructor to Publisher that's the "common" form of advertise()

  • /!\ Add optional rosrt::shutdown()

Wiki: rosrt/Reviews/2010-05-27_API_Review (last edited 2010-06-04 21:45:17 by JoshFaust)