pr2_gripper_action/Reviews/2010-01-13_Doc_Review

Please review the ROS API for the pr2_gripper_action.

Instructions for doing a doc review

See DocReviewProcess for more instructions

1. Does the documentation define the Users of your Package, i.e. for the expected usages of your Stack, which APIs will users engage with?
2. Are all of these APIs documented?
3. Do relevant usages have associated tutorials? (you can ignore this if a Stack-level tutorial covers the relevant usage), and are the indexed in the right places?
4. If there are hardware dependencies of the Package, are these documented?
5. Is it clear to an outside user what the roadmap is for the Package?
6. Is it clear to an outside user what the stability is for the Package?
7. Are concepts introduced by the Package well illustrated?
8. Is the research related to the Package referenced properly? i.e. can users easily get to relevant papers?
9. Are any mathematical formulas in the Package not covered by papers properly documented?

For each launch file in a Package

1. Is it clear how to run that launch file?
2. Does the launch file start up with no errors when run correctly?
3. Do the Nodes in that launch file correctly use ROS_ERROR/ROS_WARN/ROS_INFO logging levels?

Concerns / issues

Tim

• manifest.xml description needs to be filled in. Copying the Overview paragraph should be sufficient.

  • Updated the manifest on trunk to contain the Overview text, and removed the Overview section from the wiki.

• created the Tutorials page and added the Moving the Gripper Tutorial

  • Great, thanks.

• info from the Moving the Gripper Tutorial (sections 1.4, 1.5, 1.6 in particular) should probably appear here as well

  • Added pointers directly to 1.4 and 1.6 in the ROS API section.

Vijay

• Pretty sure that you're missing lots of tildas in Parameters and Action Interface

  • Fixed. Also added gripper_ prefix to action in several places.

• The subscribed topics and published topics documentation model doesn't seem to work very well for actions. We need to come up with a better documentation model, and then push it into a clearsilver template.

  • Sounds like a good idea for later.

• A picture showing data flow from controller to action to high-level app would make this a lot clearer.

  • Ticketed: https://code.ros.org/trac/wg-ros-pkg/ticket/3672

Conclusion