[ros-users] REP 122, REP 123, and REP 124: changes to ROS for ROS Fuerte

[Ken Conley]

On Wed, Feb 8, 2012 at 5:37 PM, Geoffrey Biggs
<geoffrey.biggs at aist.go.jp> wrote:
> Hi Ken,
>
>
> On 09/02/12 10:10, Ken Conley wrote:
>>
>> The following three REPs have been posted.  I am posting them as a set
>> as they all originate from changes introduced by REP 122.
>>
>> REP 122  Filesystem Hierarchy Standard layout changes for ROS
>> http://ros.org/reps/rep-0122.html
>
>
> Under the description of lib/ it says that all *header* files must be
> installed there.
>
> Apart from that, it sounds great.

Thanks.  Made the change above.  Also added a neglected note about
rosinstall backwards-compatibility, and was inspired to make another
grammer/style edit pass.

http://ros.org/reps/rep-0122.html

 - Ken

>
> Geoff
>
>> REP 123  ROS_ETC_DIR, ROS_DISTRO environment variables and ROS_ROOT
>> changes
>> http://ros.org/reps/rep-0123.html
>>
>> REP 124  Changes to roslaunch and rosrun for REP 122 and catkin build
>> system
>> http://ros.org/reps/rep-0124.html
>>
>> Voting is separate for these REPs, though REP 123 and 124 are dependent on
>> 122.
>>
>> Obviously, REP 122 is a bit interesting as the changes it proposes are
>> already deployed in the ROS Fuerte alpha builds.  While this is not
>> desirable, it was a case where it was not possible to fully understand
>> the breadth of the necessary changes without attempting to actually
>> make the changes.  The changes introduced by the REP were made
>> critical by the need to undo messy integration with standalone
>> libraries, like OpenCV and PCL, as well as layout the groundwork for
>> future integration efforts with standalone libraries, like Octomap,
>> OMPL, SBPL, and Gazebo.
>>
>> In our efforts to create the ROS Fuerte alpha builds, we've generally
>> found minimal impact in pre-existing code related to the changes
>> introduced above [1].  The heaviest impact has been within the ROS
>> toolchain itself, e.g. with tools like rosinstall, which have more
>> specific assumptions about the install layout. These tools are being
>> updated to be compatible.
>>
>> Changes are possible for all of these REPs, though changes may have to
>> go in ROS Groovy depending on their scope.
>>
>> There is also a yet-to-be-written REP (and implementation) for rosdep,
>> which will make further improvements to the overall system
>> integration.
>>
>>  - Ken
>>
>> [1]: http://ros.org/wiki/fuerte/Migration
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>
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