API review

Proposer: Josh Faust

Present at review:

• Tully
• Brian
• Ken
• Josh

Question / concerns / comments

Pass current API for 0.4, list current things that are wrong here:

• Single node per process, subclassing of node, hard to combine components (have to check for Node::instance(), create if it doesn't exist)
• Incoming messages are deserialized into a user-provided message instance
• advertise/subscribe/un-X are clunky and make it impossible to multiple-advertise correctly and more difficult to unsubscribe correctly in the multiple-subscription case
• Node is monolithic
  • Should be able to use parameter server and service calls without spinning up a Node
• Lots of functions in Node that are exposed to the user with comments saying "DON'T CALL THIS"
• Single-threaded support is poor/untested
• Tests should be moved into a separate package to avoid cluttering the roscpp namespace/doxygen

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved

• Ticket all of above

PASS!