single_joint_position_action/Reviews/2010-01-13_Doc_Review

Please review the ROS API for the single_joint_position_action.

Reviewer:

Instructions for doing a doc review

See DocReviewProcess for more instructions

1. Does the documentation define the Users of your Package, i.e. for the expected usages of your Stack, which APIs will users engage with?
2. Are all of these APIs documented?
3. Do relevant usages have associated tutorials? (you can ignore this if a Stack-level tutorial covers the relevant usage), and are the indexed in the right places?
4. If there are hardware dependencies of the Package, are these documented?
5. Is it clear to an outside user what the roadmap is for the Package?
6. Is it clear to an outside user what the stability is for the Package?
7. Are concepts introduced by the Package well illustrated?
8. Is the research related to the Package referenced properly? i.e. can users easily get to relevant papers?
9. Are any mathematical formulas in the Package not covered by papers properly documented?

For each launch file in a Package

1. Is it clear how to run that launch file?
2. Does the launch file start up with no errors when run correctly?
3. Do the Nodes in that launch file correctly use ROS_ERROR/ROS_WARN/ROS_INFO logging levels?

Concerns / issues

Tim

• manifest.xml description needs to be filled in. Copying the Overview paragraph should be sufficient.

  • Done.

• added Tutorials page and linked to Moving the torso tutorial.

  • Thanks.

• why "See: robot_mechanism_controllers/JointSplineTrajectoryController"? is this action implemented with that controller?

  • Yes. Updated the wiki page to make that clear.

• again, the tutorial has some details, e.g. section 1.6, that should be documented here too.

  • Ticketed: https://code.ros.org/trac/wg-ros-pkg/ticket/3673

Vijay

• Pretty sure you're missing tildas

  • Fixed. Also changed joint_trajectory_action to position_joint_action in several places.

• Yes, you've documented the interface, but it doesn't feel clear enough for me to actually start using this package.
  • Maybe it could use a small 5-line verbatim block, showing how to command it.

    • Tim linked to the torso tutorial, which gives a good example.

  • A picture showing data flow from controller to action to high-level app would make this a lot clearer.

    • Ticketed: https://code.ros.org/trac/wg-ros-pkg/ticket/3672

Conclusion