Re: [ros-users] [Ros-developers] Draft REP: Informational Di…

Let's try to revive this discussion...

+1 from me on the proposed spec.

The transition plan sounds adequate to me, perhaps even overkill. But I'm
not a user of LaserScan or Range, just PointCloud2, which already uses NaN
and Inf.

Cheers,
Patrick

On Fri, Oct 14, 2011 at 12:53 PM, Ken Conley <kwc@willowgarage.com> wrote:

> This has been assigned number 117 and is viewable here:
>
> http://www.ros.org/reps/rep-0117.html
>
> cheers,
> Ken
>
> On Thu, Oct 13, 2011 at 8:28 PM, Chad Rockey <chadrockey@gmail.com> wrote:
>
>> There is a need to communicate special values within the distance
>> measurement sensor messages (Laserscan, Range, PointClouds). In this REP,
>> I propose using the standard floating point values of -Inf, NaN, and +Inf
>> to represent more information within the current messages. Previous discussion is
>> available on our wiki page (
>> http://www.ros.org/wiki/fuerte/Planning/Drivers) and in ticket #4367 (
>> https://code.ros.org/trac/ros-pkg/ticket/4367).
>>
>> 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
>>
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