SIG meeting notes fuerte/Planning/TurtleBot/2011-09-26

Today's Focus Software:

Melonee proposes REP for canonical turtlebot base, including naming conventions for topics, links, breaker names.

• Change to "camera" for link name and topic name for kinect/future sensors.
  • This will allow most demos/examples with camera code which will work without remapping.
  • Additional cameras/depth sensors would get a specific name like "head_camera" for example patrick's pan tilt camera.
• Conform with REP 105

Should consider a seperate standard for simple arms and heads.

• Arm link name standards, such as arm base link
• Base head link names.
• Should be easily mapped to multi arm configurations.

Breaker Names

• Stick with numbered.
• In the future we can add a "breaker controller" which will abstract breaker names to numbers.

Launch Files

• Suppress non user launchable files.
• Collapse as many launch files as possible into as few as possible.
• Simplify use cases as much as possible.

pointcloud_to_laserscan

• Move into laser_pipeline/laser_geometry

turtlebot_node

• should move prints to ROS_INFO leave IR sensor upgrade ticket for a motivated user.

Service updates:

• Change Upstart to restart on new IP instead of stop on loss of interface.
• Seperate upstart service for roscore
• Add use_sim_time = False in hardware bringup
• add a service reload/restart target for turtlebot which won't kill the roscore.

Promote laptop_battery into a general location. Also, pull CPU stuff from PR2 possibly make a stack computer_diagnostics.

Move turtlebot_interactive_markers to turtlebot_viz stack

turtlebot_apps:

• Rename chirp to turtlebot_sounds.
• follow up turtlebot_actions API review
• move turtlebot_navigation_laser into turtlebot_navigation
• review turtlebot_self_filter and should it be added into navigation, or does navigation do that for us?

turtlebot_teleop

• make display a little more intuitive
• fix crashes when pressing non mapped keys.
• look at bringing in teleop_twist from Brown

promote turtlebot_train and turtlebot_rndmwalk into turtlebot_apps