= Roadmap =

== Wish list ==

The list below was created while developing the current stack version. Some the listed items are already underway.

 1. Reduce bandwidth of /tf topic: Do not broadcast intermediate frames ''(underway)''
 2. Reduce log statements, make better use of severity levels ''(underway)''
 3. Use a KDL subtree with only relevant joints/links, and not the whole robot tree
 4. Allow more general endpoint specification
 5. Investigate possible use of iTaSC
 6. Move away from service-based IK calls to a plugin-based one ''(underway)''
 7. Simplify configuration files
 8. Make stack robot-agnostic (and remove reem_ prefix from name)
 9. Document public API ''(partially done/underway)''
 10. Add proper unit test suite
 11. Create branches specific to each supported ros release ''(underway)''
 12. Compare the pipeline performance when using multiple nodes, multiple nodelets and one node ''(I: current implementation, II: underway)''

Please feel free to add further items to the list.

== Remarks on the wish list ==

@ 4. The implementation of this feature will involve changes mainly in the motion_adaption package and to some extend in the reem_teleop_coordinator package. It would be helpful to share some thoughts before this is tackled: see the related [[motion_adaption/Reviews/proposal_general_endpoint_spec | proposal ]] on the motion_adaption review site.