Hi Ryan,

On Tue, Dec 6, 2011 at 6:54 PM, Ryan Gariepy <rgariepy@clearpathrobotics.com
> wrote:

> -0
>
> Will these changes will affect nodes outside of the openni stack? If so,
> can these effects be enumerated? Will we need to update all of the
> TurtleBot demo code, for instance?
>
> Also, the REP does not state a clear motivation for doing this. Is what we
> have causing problems, or is it just "not ideal"? #117<http://ros.org/reps/rep-0117.html> is
> similar but concisely states reasons for why the work should be done, and
> how it'll impact past code.
>

I didn't adequately explain the context of this REP. It proposes *no changes
*, except to discourage use of the old and flawed
sensor_msgs/DisparityImage message. The purpose is to codify and document
the convention used by the OpenNI stack.

Cheers,
Patrick