API review

Proposer: Jeremy Leibs

Present at review:

• Vijay
• Eric
• Tully
• Caroline

Proposal

• generic_laser_filter_node changes:

  • Name change: scan_to_scan_filter_chain

  • Name for target_frame of internal tf::MessageFilter:

    • hard-coded "base_link" --> (param: ~tf_message_filter_target_frame)

  • Input: scan_in --> scan

  • Output output --> scan_filtered

• scan_to_cloud_filter_chain changes:

  • Input: (param: ~scan_topic) --> scan

  • Output (param: ~cloud_topic) --> cloud_filtered

• LaserMedianFilter becomes LaserArrayFilter

  • Also: separate specification of internal range_filter and intensity_filter. Config file for a laser median filter now looks like:

    • filter_chain:
      - type: LaserArrayFilter
        name: laser_median
        params: 
          range_filter_chain:
            - name: median_5
              type: MultiChannelMedianFilterFloat 
              params:
                number_of_observations: 5
                unused: 10
          intensity_filter_chain:
            - name: median_10
              type: MultiChannelMedianFilterFloat 
              params:
                number_of_observations: 10
                unused: 10

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.

• Josh

  • Why not just ~tf_target_frame? No reason to expose the fact that it's using a tf::MessageFilter

  • Jeremy: Because it's not actually doing a transform into that frame. The only guarantee you get is that the filters won't be run until the transform is available.

Conclusion

Package status change mark change manifest)

• Action items to be resolved

• Major issues that need to be resolved

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