API review

Proposer: John Hsu

Present at review:

• List reviewers

Changes

• update parsers
  • kdl_parser

  • rviz - parse directly from RobotModel

  • mechanism_model
• deprecating wg_robot_description_parser

• URDF format change - see overview of proposed URDF.

  • removing <map>, replacing with extensions <gazebo> and <ogre>

Question / concerns / comments

Meeting agenda

• ability to define joints independent of links. Example use case: gripper_joint is not attached to any specific link

  <joint name="a_joint" type="revolute">
    <limit lower="0" upper="1" />
  </joint>
  <link name="a_link">
    <connect parent_joint="a_joint" type="revolute">
      <origin xyz="0 0 0" > <!-- transform from child link to joint -->
      <axis xyz="0 0 1" >
      <parent link="parent_link_name">
        <origin xyz="0 0 0" rpy="0 0 0" /> <!-- transform from joint to parent link -->
      </parent>
    </connect>
  </link>

  Need better structure and name then origin tag. [:robot_model/Reviews/2009-08-13_API_Review: TBD at next API Review].

  gripper_joint need either mimic or additional constraints for proper forward kinematics.

  inertial, visual, collision should be optional (john -- pkg )

  removing names for invertial, visual, collsion (anything you can call get_() are required to have names). (john pkg )

  specify inertia/visual/collision origin is optional, default to identity (john pkg )

  make quaternion an option for origin: <origin xyz="..." quaternion="...." /> (John)

  make sure rpy application is in the right direction (wim)

  <frames> not needed (john remove from wiki)

API

• remove underscore from public members (wim -- done)

  initXml should be able to take TiXmlDocument* and TiXmlElement* (wim -- done)

  change cerr and cout to ROS_INFO/ROS_ERROR for now, think about wrapping in custom macros. (wim -- done)

  getLinks() returns vector of links (josh has to check in)

  wrong const location, should be (john -- done)

  boost::shared_ptr< const Link >         getLink (const std::string &name) const

  Need getJoints() (john)

  move RobotModel::link_parent_ into local scope (john pkg)

  rename Pose::pos_ and Pose::rot_ to Pose::position and Pose::rotation (wim -- done)

  anything that should exist and have right default values should not be a pointer, example: Pose::pos_ and Pose::rot_ (wim -- done)

  Rotation: move w behind x,y,z (wim -- done)

  remove joint_ prefix from class memebers (john -- done)

  remove extensions from diagram (split?) (john -- done)

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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