API review

Proposer: Jeremy Leibs

Present at review:

  • Vijay
  • Eric
  • Tully
  • Caroline


  • generic_laser_filter_node changes:

    • Name change: scan_to_scan_filter_chain

    • Name for target_frame of internal tf::MessageFilter:

      • hard-coded "base_link" --> (param: ~tf_message_filter_target_frame)

    • Input: scan_in --> scan

    • Output output --> scan_filtered

  • scan_to_cloud_filter_chain changes:

    • Input: (param: ~scan_topic) --> scan

    • Output (param: ~cloud_topic) --> cloud_filtered

  • LaserMedianFilter becomes LaserArrayFilter

    • Also: separate specification of internal range_filter and intensity_filter. Config file for a laser median filter now looks like:

      • filter_chain:
        - type: LaserArrayFilter
          name: laser_median
              - name: median_5
                type: MultiChannelMedianFilterFloat 
                  number_of_observations: 5
                  unused: 10
              - name: median_10
                type: MultiChannelMedianFilterFloat 
                  number_of_observations: 10
                  unused: 10

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.

  • Josh
    • Why not just ~tf_target_frame? No reason to expose the fact that it's using a tf::MessageFilter

    • Jeremy: Because it's not actually doing a transform into that frame. The only guarantee you get is that the filters won't be run until the transform is available.


Package status change mark change manifest)

  • /!\ Action items to be resolved

  • {X} Major issues that need to be resolved

Wiki: laser_filters/Reviews/2009-9-28_API_Review (last edited 2009-09-29 00:15:00 by JeremyLeibs)