API review

Proposer: Wim Meeussen

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.

Stu:

• Remove addDelta. It's not a conversion and doesn't belong here.
• Sorry to mention this, but we lowercased all the conversion functions inside TF, right? Should we do this here?

Tully:

• The API page should summarize the types of data types this package converts between.
• addDelta is not a conversion, it doesn't use ros::Time Document what all the terms in it mean. eg reference frame, reference point

Vijay:

• addDelta should probably take a ros::Duration instead of a double. Or, maybe overloaded with a ros::Duration

• I can't seem to find PoseTFToMsg

• This is probably a 2.0 thing:
  • All of these functions have different signatures. It might be more convenient to return the result and overload most of the other args:

    geometry_msgs::Pose toMsg(const KDL::Frame &t)
    geometry_msgs::Pose toMsg(const tf::Pose &p)
    Eigen::Transform3d toEigen(const tf::Transform &t)

  • You can then do stuff like

    publisher_.publish(toMsg(myFrame));

Action items (wim)

• Deprecate the addDelta method
• Add a list of supported datatypes in the documentation
• Will not go through a deprecation cycle to lowercase the functions, because we plan to deprecate the whole package anyway.
• Conversions between tf datatypes and ros messages are in the tf package. This package is only for datatypes of other libraries (kdl and eigen).

• The 2.0 roadmap for this package is mentioned in geometry/Roadmap and tf_conversions

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved