Drivers

SIG Coordinator: Jack O'Quin

Topics: driver packaging, sensor_msgs, dynamic_reconfigure

Members:

• Melonee Wise
• Patrick Mihelich
• Chad Rockey
• Jack O'Quin
• Ken Tossell
• Eric Perko
• Brett Grandbois

Mailing list discussion archives.

Proposed new features

• dynamic_reconfigure

  • Possible enhancements, including the Parameter Groups Proposal, and <<Ticket(ros-pkg 3617)>>

  • What (if anything) can be done in this release to be determined

  • C++ Client API (To resolve having to call command line from code.)

• camera_drivers

  • Unary stack packaging, <<Ticket(ros-pkg 5183)>>, see REP-0109

  • Add official USB camera driver

  • Possibly take advantage of any new dynamic_reconfigure features

• laser_drivers

  • Repackaging to be determined

  • Laser driver message API changes (NaN and Inf), new REP required: see <<Ticket(ros-pkg 4367)>>

• joystick_drivers

  • Repackaging to be determined

  • Joystick driver support for Feedback messages

  • Remove sudo requirement for ps3joy

  • Diagnostics for ps3joy

  • Possibly diagnostics for all joystick drivers so that users are sure that the lowest level driver is spitting out data

• imu_drivers

  • Repackaging to be determined

    • Likely to be meta-package

  • Wiimote and other Gyro only support for robot_pose_ekf (through simple integration).

  • Support (again) for Sparkfun 9-dof IMU

    • Possible modifications to built-in firmware for ROS-Serial and Quaternion Output - the built in firmware uses rotation matrices for internal representation but outputs Euler.

• openni_kinect

  • Stack reorganization to minimize dependencies

  • New openni_camera driver

    • well tested and robust
    • with diagnostics

• gps_drivers new umbrella stack, possibly containing:

  • gpsd_client (reads from GPSd, generic, has trouble with GPSd instability)

  • cyphy_ros_gps (reads NMEA directly, generic)

  • Novatel drivers:

    • ccny-ros-pkg/cata_gps

    • novatelINS

  • publish sensor_msgs/NavSatFix messages

• android_drivers new umbrella stack, possibly containing:

  • imu_driver
  • gps_driver
  • camera_driver
  • Possibly all in one App.

Deadlines

First feature freeze (2012-01-15)

• dynamic_reconfigure enhancements (if any)

• Unary stack packaging
  • laser_drivers and imu_drivers [Chad]

• Hokuyu and Sick laser driver API changes (depends on new REP approval) [Chad]

• New openni_camera driver

• Wiimote Feedback changes (Breaks existing API)

Final feature freeze (2012-02-15)

• Driver modifications to use new dynamic_reconfigure features

• USB camera driver
• Wiimote fixes
• Kinect calibration improvements

• joystick_drivers updates

• Wiimote and Gyro integration for IMU [Chad]

• sparkfun_9dof_imu driver [Chad]

• New gps_drivers

• New android_drivers [Chad]

Release date (2012-03-15)

• Bug fixes not affecting APIs