Attached is my first draft of this REP. The Drivers SIG has reviewed this REP, and we now seek community input. Our main concern with this REP is transition strategy. We wish to provide minimal disruption with this change (no message migration, minimal client code changes); however, in certain cases NaNs may propagate through systems. Our primary concern is how to adequately prepare the community for this change.
To mitigate transition problems, we propose to add a node, nodelet, and library that will clean the target messages of NaNs and Infinities and revert the new measurements to the legacy 'max_range + 1' behavior. This tool would only be supported for one release and removed for the Groovy release.
Thank you for your feedback.
- Chad