API review

Proposer: Blaise Gassend

Present at review:

• List reviewers

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.

Vijay

• Seems a little odd that the default value for ~skip is 1. Might make more sense for this to be 0. Thus, novice users won't lose half their data

  • Jeremy: The reason for this is that with intensity turned on and full field of view, this exceeds the hokuyo's bandwidth. Alternatives are to default to a narrower field of view or default to intensity turned off.

  • BG: Changed "~skip"'s default to 0, and intensity's default to false.

• In order to match the rest of the system (and sicktoolbox_wrapper), parameter ~frameid should probably be ~frame_id

  • Docs should be explicit about positioning the frame:
    "This frame should be at the optical center of the laser, with the x-axis along the zero degree ray, and the y axis along the 90 degree ray"

    • Done.

  • Might be a little cleaner if the default value is something like NO_FRAME_SPECIFIED

    • BG: Default is now "laser".

• Any thoughts for a better name than ~skip? This is definitely the most unclear name in this node's ROS API.

  • BG: After discussion, it seems that skip is satisfactory.

Jeremy

• The ~model_04LX parameter is not necessarily going to generalize well into the future. This should probably be renamed to something like send_scip2_switch, but could potentially be removed all together if it's safe to just run all hokuyos in this mode.

  • BG: It has been removed. The driver now always tries to switch to SCIP2.0, and defaults to intensity=false.
• FRAMEID_LASER doesn't feel like the right default frame. This should be chosen according to an appropriate convention. possibilities here are:

  • Completely unique: hokuyo_<id>

  • Driver unique: hokuyo

  • Device-type unique: laser

  • Non-unique: <empty> or NONE

• BG: Changed default to "laser".

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved

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