API review

Proposer: Patrick

Present at review:

• Eric
• Brian
• Josh
• Blaise
• Kurt
• James
• Caroline
• Ethan

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.

• Josh

  • When I advertise an ImagePublisher on a topic, what does that mean? Is that the "raw" topic? Is it a namespace that all the topics get pushed into?

• Ethan
  • RE Josh: There will be a "raw" topic with that name, then a series of names with _topic also published
  • Unit tests needed : I tried to actually use the functionality and I was only able to connect to the raw topic, both compressed plugins crashed with different error messages.

Meeting agenda

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

• Blaise: parameter to ImagePublisher, which transports to use

• Maybe want topics in namespace (image/raw, image/compressed, etc.)
  • Not backwards compatible (publishing image now confuses rostopic)
• Bag file solution?
  • Figuring out plugin from parameter (like now) doesn't work
  • Mandate one message datatype per plugin? From topic name?

• ImageSubscriber maybe should take base topic and preferences as to what transport to use? (Josh)

• Subscriber diagnostics (topic advertised? are we getting images?) - Blaise
• Take Image out of class names
• Decision on specifying plugin for subscriber to use:
  • Add 'string transport' arg after base_topic in subscribe()
  • Pass base_topic directly to plugin's subscribe(), plugin must append extension to it

Topic structure

/prosilica
  raw -> Image
  raw/
    compressed
    theora
  rectified -> Image
  rectified/
    compressed
    theora
  camera_info

• Drop-in replacement
• Needs rostopic fix (don't use / for message fields)
• Needs rxplot change
• Helps debug ROS

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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