base_local_planner/Reviews/2009-10-06 Doc Review
Instructions for doing a doc review
See DocReviewProcess for more instructions
- Does the documentation define the Users of your Package, i.e. for the expected usages of your Stack, which APIs will users engage with?
- Are all of these APIs documented?
- 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?
- If there are hardware dependencies of the Package, are these documented?
- Is it clear to an outside user what the roadmap is for the Package?
- Is it clear to an outside user what the stability is for the Package?
- Are concepts introduced by the Package well illustrated?
- Is the research related to the Package referenced properly? i.e. can users easily get to relevant papers?
- Are any mathematical formulas in the Package not covered by papers properly documented?
For each launch file in a Package
- Is it clear how to run that launch file?
- Does the launch file start up with no errors when run correctly?
- Do the Nodes in that launch file correctly use ROS_ERROR/ROS_WARN/ROS_INFO logging levels?
Concerns / issues
- Remove from package summary: "(the convex requirement is to keep the code as efficient as possible)" This should go into the details later.
- "Pick the highest-scoring trajectory and apply the associated velocity." The word "apply" is not precise enough.
- Reworded this
- "In practice however, we **** DWA and Trajectory Rollout to perform comparably in all our tests"
- Inserted the word find here
- "designed to be instantiated within a ros::Node"
Change ros::Node to "ROS node", as you're not referring to an actual class.
- Explain why minimum velocities need to be specified (the robot won't overcome friction...)
- Added an explanation
I don't understand the holonomic_robot parameter. How do you actually change the command when the robot is no longer considered to be holonomic?
- Added an explanation
- It's difficult to know what to do with all the trajectory scoring parameters. Could you give the equation for how they fit together into a cost function?
- Added the cost function to the trajectory scoring parameters section.