API review
Proposer: TullyFoote
Present at review:
- List reviewers
Open tickets
These are from the previous review robot_msgs/2009-05-05_API_Review
Question / concerns / comments
We need to review all messages in these packages. We are looking to make ~6 months of stability for these messages. If we can't get to that level they should find new homes.
http://pr.willowgarage.com/pr-docs/ros-packages/diagnostic_msgs/html/index.html Messages in [diagnostic_msgs]: diagnostic_msgs/DiagnosticMessage diagnostic_msgs/DiagnosticStatus diagnostic_msgs/DiagnosticValue diagnostic_msgs/DiagnosticString Services in [diagnostic_msgs]: diagnostic_msgs/SelfTest http://pr.willowgarage.com/pr-docs/ros-packages/mapping_msgs/html/index.html Messages in [mapping_msgs]: mapping_msgs/PolygonalMap mapping_msgs/OrientedBoundingBox mapping_msgs/CollisionMap mapping_msgs/Object mapping_msgs/AttachedObject mapping_msgs/ObjectInMap http://pr.willowgarage.com/pr-docs/ros-packages/nav_msgs/html/index.html Messages in [nav_msgs]: nav_msgs/MapMetaData nav_msgs/ParticleCloud nav_msgs/OccGrid http://pr.willowgarage.com/pr-docs/ros-packages/robot_msgs/html/index.html Messages in [robot_msgs]: robot_msgs/PoseDot robot_msgs/Path robot_msgs/JointCmd robot_msgs/PoseWithCovariance robot_msgs/Polygon3D robot_msgs/Wrench robot_msgs/AngularVelocity robot_msgs/Vector3Stamped robot_msgs/Vector3 robot_msgs/PointCloud robot_msgs/Twist robot_msgs/ControllerState robot_msgs/Quaternion robot_msgs/AngularAcceleration robot_msgs/PoseStamped robot_msgs/ChannelFloat32 robot_msgs/Point32 robot_msgs/Velocity robot_msgs/PointStamped robot_msgs/PoseDDot robot_msgs/PoseWithRatesStamped robot_msgs/Pose robot_msgs/QuaternionStamped robot_msgs/Point robot_msgs/VOPose robot_msgs/Acceleration robot_msgs/BatteryState robot_msgs/TransformStamped robot_msgs/Transform http://pr.willowgarage.com/pr-docs/ros-packages/robot_srvs/html/index.html Services in [robot_srvs]: robot_srvs/SetJointCmd robot_srvs/GetVector robot_srvs/MoveToPose robot_srvs/SetVector robot_srvs/GetQuaternion robot_srvs/GetValue robot_srvs/GetJointCmd robot_srvs/SetPoseStamped http://pr.willowgarage.com/pr-docs/ros-packages/sensor_msgs/html/index.html Messages in [sensor_msgs]: sensor_msgs/DisparityInfo sensor_msgs/CompressedImage sensor_msgs/StereoInfo sensor_msgs/Image sensor_msgs/CamInfo sensor_msgs/RawStereo sensor_msgs/LaserScan Possibly including http://pr.willowgarage.com/pr-docs/ros-packages/manipulation_msgs/html/index.html Messages in [manipulation_msgs]: manipulation_msgs/SplineTraj manipulation_msgs/JointTraj manipulation_msgs/TaskFrameFormalism manipulation_msgs/JointTrajPoint manipulation_msgs/SplineTrajSegment manipulation_msgs/IKRequest http://pr.willowgarage.com/pr-docs/ros-packages/manipulation_srvs/html/index.html Services in [manipulation_srvs]: manipulation_srvs/IKService manipulation_srvs/IKQuery http://pr.willowgarage.com/pr-docs/ros-packages/nav_srvs/html/index.html Services in [nav_srvs]: nav_srvs/StaticMap nav_srvs/Plan
Other questions:
- Jeremy: We should really change the Image format before we do this. Nobody is satisfied with the current format. The best proposal so far is to mirror the OpenCV 2d Matrix data representation. James should be putting together a proposal for this.
Patrick:
James' Image proposal, from discussion at BinaryMultiArray:
To allow efficient transport of OpenCV CvMat http://opencv.willowgarage.com/documentation/basic_structures.html#CvMat objects.
int32 type # Type of elements, and channels. Encoded as in OpenCV's CV_8UC1 .. CV_64FC4. int32 step # Full row length in bytes uint8 data[] # Pointers to the actual matrix data int32 rows # Number of rows int32 cols # Number of columns uint8 is_bigendian # is this data bigendian
I also propose CompressedImage be modified slightly:
Header header # Header string label # Label for the image string encoding # Specifies the color encoding of the data # Acceptable values are: # 1 channel types: # mono # 3 channel types: # rgb, bgr string format # Specifies the format of the data # Acceptable values: # jpeg, png # No depth field, 8 bit channels assumed int32 rows int32 cols uint8[] data # previously UInt8MultiArray
Stu:
- Either robot_msgs/PoseDot or robot_msgs/Twist should go. They represent exactly the same thing in exactly the same way.
I would still prefer to reduce the following down to Vector3: AngularVelocity, AngularAcceleration, Velocity, Point.
Meeting agenda
Step through all messages and verify that they are as we want for the next 6 months.
Conclusion
Package status change mark change manifest)
![/!\](./rostheme/img/alert.png "/!\")
Action items that need to be taken. 
Major issues that need to be resolved
Notes
change DiagnosticValue to become KeyValue string key string value Remove DiagnosticString Rename DiagnosticMessage to DiagnosticArray if possible remove mapping_msgs from stack rename Occgrid to OccupancyGrid add header to OccupancyGrid and ParticleCloud ParticleCloud -> PoseArray convert Image to cvMat copy with row major comment and Constants in message definiton, and a unit test in different package \ to assert that the opencv and message enums are the same. Note no auto big endian support. Add a header nav_msgs/StaticMap -> GetMap nav_msgs/Plan -> GetPlan both nav_srvs into nav_msgs manipulation_msgs and srvs aren't mature and should not be released in the stack for now, they can be added later. move the\ m to a different stack/sandbox sensor_msgs/CamInfo need comments ot describe matrix dimentions and row major rename to CameraInfo and link to descriptions of what they are ditto for StereoInfo review ROI interaction with height/width in Info Messages consider postponing the release of imaging messages compressedImage look up if encoding in necessary outside the format spec, if not remove drop label switch to uint8[]