API review

Proposer: Adam Leeper

Present at review:

• Dave Hershberger
• David Gossow
• Jon Binney
• Tully Foote

Proposed Changes

To support interaction using a 3-DOF and/or 6-DOF cursor, I propose adding a few const uint8 values to the possible interaction modes in InteractiveMarkerControl.

Please consider the changes below and then either sign-off or put any thoughts/objections/amendments in section 2.

So it would now look like:

# Interaction mode for this control
# 
# NONE: This control is only meant for visualization; no context menu.
# MENU: Like NONE, but right-click menu is active.
# BUTTON: Element can be left-clicked.
# MOVE_AXIS: Translate along local x-axis.
# MOVE_PLANE: Translate in local y-z plane.
# ROTATE_AXIS: Rotate around local x-axis.
# MOVE_ROTATE: Combines MOVE_PLANE and ROTATE_AXIS.
uint8 NONE = 0 
uint8 MENU = 1
uint8 BUTTON = 2
uint8 MOVE_AXIS = 3 
uint8 MOVE_PLANE = 4
uint8 ROTATE_AXIS = 5
uint8 MOVE_ROTATE = 6
# "3D" interaction modes have been added to support 3D cursors. 
# MOVE_3D: Translate freely in 3D space.
# ROTATE_3D: Rotate freely in 3D space, around origin of parent.
# MOVE_ROTATE_3D: Full 6-DOF freedom of translation and rotation about the cursor origin (e.g. where the marker was grabbed).
uint8 MOVE_3D = 7
uint8 ROTATE_3D = 8
uint8 MOVE_ROTATE_3D = 9

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.

• Dave: ROTATE_3D should rotate around the position of the parent InteractiveMarker. InteractiveMarker message comment specifically mentions setting the pivot point for rotations.

• Dave: Otherwise looks good to me.

• David: I basically agree with Dave.

• David: If this is supposed go into Groovy, there also has to be a reference implementation in RViz.

• David: How would the default visualization look like?

• Tully: Looks reasonable to me.

Meeting agenda

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

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved