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

[Ken Conley]

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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