[ros-users] [Ros-developers] [Orocos-Dev] Proposal to restructure orocos_toolchain_ros

[Willy Lambert]

2011/6/3 Adolfo Rodríguez Tsouroukdissian <adolfo.rodriguez at pal-robotics.com
>

>
>
> On Fri, Jun 3, 2011 at 8:40 AM, Ruben Smits <ruben.smits at mech.kuleuven.be>wrote:
>
>> Hi Peter,
>>
>> I'm also forwarding to ros-mailinglists, to make sure we don't miss any
>> feedback from that community ;)
>>
>> On Friday 03 June 2011 00:16:17 Peter Soetens wrote:
>> > I'd like to propose to restructure the orocos_toolchain_ros such that
>> > new&existing users can more easily find their way. It's mainly about
>> > renaming packages:
>>
>> This is indeed a issue that's waiting for a proposal.
>>
>> > 1. rtt_ros_integration -> rename to 'rtt_rosnode'
>> > -> an import("rtt_rosnode") makes your process a ros node
>>
>> Looks ok to me
>>
>> > 2. rtt_ros_integration_xyz_msgs -> rename to 'rtt_xyz_msgs'
>> > -> shorter notation, also makes it easier for users to update their
>> > manifest file, just prefix with 'rtt_'
>>
>> Or make rtt a suffix? xyz_msgs_rtt?? And maybe even put them in a seperate
>> stack
>> (We only provide typekites for the common_msgs stack)
>> -> common_msgs_rtt?
>>
>> > 3. rtt_ros_param -> rename to 'rtt_rosparam'
>> > -> consistent naming scheme, service is also named 'rosparam' and not
>> > 'ros_param'
>>
>
>> Look sane to me.
>>
>> > 4. rtt_ros_service -> ?
>> > -> a bit confusing about what it does, I wonder if the code shouldn't
>> > belong in rtt_rosnode instead, since it only provides the ros.topic()
>> > operations, which make only sense when running in a rosnode... I would
>> > also propose that this global 'ros' service is available from the
>> > moment rtt_rosnode is imported. Today you need an extra
>> > 'require("ros")' in scripting and something similar in lua.
>>
>> Maybe we could put the functionality of rospack, rosparam and the
>> rtt_ros_service, all in the rtt_rosnode package?
>>
>> > What do the current users/devs think ?
>>
>
> +1 for succinct names, rtt_rosnode sounds fine.
>
> +1 for merging rosnode, topics, services and parameters in a single
> package. It makes sense to have a single package expose functionality
> available in ROS through a single entity, the ros::NodeHandle class. Also,
> +1 for allowing to import all of the functionality with a single statement.
> If there is  a significant overhead or bloat if you only want to use part of
> it (e.g., only topics), then also provide finer-grained import statements.
>
> +1 for separating messages into different stacks. This will definitely
> prevent dependency bloat. Again, I would aim for parallelism with the
> structure of the original ROS stacks/packages (rtt_common_msgs <->
> common_msgs). This will minimize mental transformations when mapping things
> between the Orocos and ROS worlds.
>
> Finally, if we're using rtt_* as prefix in most places, I'd rather write
> rtt_common_msgs than common_msgs_rtt. I'm open to be convinced otherwise,
> though.
>
> Adolfo.
>

I totally agree on those. The faster it is done the better :p


>
>
>> If we do the renaming, we will brake a lot of existing applications, since
>> we
>> are still in the experimental versioning scheme 0.x, I don't have a
>> problem
>> with that but we have to communicate this name changing very clearly to
>> our
>> users.
>>
>
>> > Peter
>>
>> -- Ruben
>> _______________________________________________
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>> ros-developers at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-developers
>>
>
>
>
> --
> Adolfo Rodríguez Tsouroukdissian
>
> Robotics engineer
> PAL ROBOTICS S.L
> http://www.pal-robotics.com
> Tel. +34.93.414.53.47
> Fax.+34.93.209.11.09
>
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