A minor suggestion: can the REP clarify a bit the difference between 'common' and 'required' topics. i.e., what is necessary/sufficient for REP 138 compatibility? The REP is fairly clear that scan or echoes should be present. I'm not sure if first/last/intense are implied as required or just 'common'/expected due to the availability of a conversion tool. In reading a REP, it would be nice to explicitly denote required sections vs. optional sections. Also, are first/last/intense provided for backwards tool compatibility, or is it intended that systems with multi-echo scans always run this pre-processing? Thanks for putting this together. Ken On Mon, Feb 25, 2013 at 11:41 AM, Chad Rockey wrote: > https://github.com/chadrockey/rep/blob/laserscanner/rep-0138.rst > > I've posted REP 138 for review. The Github pull request is available here: > https://github.com/ros-infrastructure/rep/pull/25 > > Thanks! > - Chad > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >