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API review

Proposer: TullyFoote

Present at review:

Open tickets

https://prdev.willowgarage.com/trac/personalrobots/query?status=assigned&status=new&status=reopened&group=status&milestone=common_msgs-0.1

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:

Patrick:

Stu:

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)

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[]



2019-11-09 12:35