API review

Proposer: Tully

Present at review:

• Ken
• Radu

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.

Meeting agenda

Existing roslaunch syntax.

<launch>
<node>
<machine>
<include>
<remap>
<env>
<param>
<rosparam>
<group>
<test>

proposed yaml syntax for nodelets

normal_estimator:
  type: NormalEstmator
  params:
    min_area: 3
    max_area; 4
  remap:
  - from:~/input_cloud
    to: pcd_cloud
  - from: ~/output_normals
    to: normals
ground_plane_removal:
  type: GroundPlaneFilter
  params:
    tolerance: 5
    something_complicated: {a:'b', c:'d'}
  remap:
  - from: ~/input_cloud
    to: pcd_cloud
  - from: ~/input_normals
    to: normals
  - from: ~/output_cloud
    to: ground_free_cloud

Alternative to be more roslaunch like

nodelets:
- name: foo
  type: bar
  params: 
    many: here
  remap:
  - from: a
    to: b
- name: foo2
  type: bar
  params: 
    many: here
  remap:
  - from: a
    to: b

For launching you can use spawner style syntax: so you bring up node "manager" and then use

nodelet_spawner "manager" nodelet_name NodeletType parameter_file.yaml remappings.yaml

Or yaml_file config based

nodelet load nodelet_name yaml_file.yaml [manager]
nodelet start nodelet_name

to stop

nodelet stop nodelet_name
nodelet unload nodelet_name

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved