+0, as I don't feel qualified to make meaningful criticism. But I like the
direction of the changes, and certainly understand the new layout much
better now.

Patrick

On Wed, Feb 8, 2012 at 5:10 PM, Ken Conley <kwc@willowgarage.com> wrote:

> The following three REPs have been posted.  I am posting them as a set
> as they all originate from changes introduced by REP 122.
>
> REP 122  Filesystem Hierarchy Standard layout changes for ROS
> http://ros.org/reps/rep-0122.html
>
> REP 123  ROS_ETC_DIR, ROS_DISTRO environment variables and ROS_ROOT changes
> http://ros.org/reps/rep-0123.html
>
> REP 124  Changes to roslaunch and rosrun for REP 122 and catkin build
> system
> http://ros.org/reps/rep-0124.html
>
> Voting is separate for these REPs, though REP 123 and 124 are dependent on
> 122.
>
> Obviously, REP 122 is a bit interesting as the changes it proposes are
> already deployed in the ROS Fuerte alpha builds.  While this is not
> desirable, it was a case where it was not possible to fully understand
> the breadth of the necessary changes without attempting to actually
> make the changes.  The changes introduced by the REP were made
> critical by the need to undo messy integration with standalone
> libraries, like OpenCV and PCL, as well as layout the groundwork for
> future integration efforts with standalone libraries, like Octomap,
> OMPL, SBPL, and Gazebo.
>
> In our efforts to create the ROS Fuerte alpha builds, we've generally
> found minimal impact in pre-existing code related to the changes
> introduced above [1].  The heaviest impact has been within the ROS
> toolchain itself, e.g. with tools like rosinstall, which have more
> specific assumptions about the install layout. These tools are being
> updated to be compatible.
>
> Changes are possible for all of these REPs, though changes may have to
> go in ROS Groovy depending on their scope.
>
> There is also a yet-to-be-written REP (and implementation) for rosdep,
> which will make further improvements to the overall system
> integration.
>
>  - Ken
>
> [1]: http://ros.org/wiki/fuerte/Migration
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