[ros-users] [Ros-developers] Draft REP: Informational Distance Measurements

[Eric Perko]

+1

I think the proposed transition plan is adequate as long as it's easy for
people to discover. I suggest making sure that this change is in the Fuerte
release notes/announcement so that users have some measure of forewarning.

- Eric

On Tue, Nov 1, 2011 at 11:14 PM, Patrick Mihelich <mihelich at willowgarage.com
> wrote:

> 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 at 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 at 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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>>>
>>
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