These are a few of the notes from our discussions. Please add anything else you remember.

Things desired

• Document messageFilter.add
• Add a way to do averaging extrapolation.
  • Possibly a special extrapolation tool, with sample distance

• More for another SIG rsync for ROS, sending incremental updates, example map updates from gmapping.

  • Could do incremental updates. Send single joint values, as incremental updates.
  • Could send heartbeat to say nothing changed, for efficiency.
• Possibly change robot state publisher to publish at different frequencies.
• Add interpolation limits when not publishing

Discussion Topics

tf_prefix problem and possible replacements

• The implementation of tf_prefix has proved too onerous for developers
• There's possibly a synercy with the multi=master SIG for considering solutions for namespacing tf.

Bandwidth optimization

• We discussed variable rate publishers as a possiblity
• tf2 has static transforms on a latched topic.

Dependency optimization

• There's interest in seperating the visualization and debugging tools from the core library.