[ros-users] REP 138 LaserScan Common Topics, Parameters, and Diagnostic Keys

[Ken Conley]

A minor suggestion: can the REP clarify a bit the difference between
'common' and 'required' topics.  i.e., what is necessary/sufficient for REP
138 compatibility?  The REP is fairly clear that scan or echoes should be
present.  I'm not sure if first/last/intense are implied as required or
just 'common'/expected due to the availability of a conversion tool.   In
reading a REP, it would be nice to explicitly denote required sections vs.
optional sections.

Also, are first/last/intense provided for backwards tool compatibility, or
is it intended that systems with multi-echo scans always run this
pre-processing?

Thanks for putting this together.

Ken



On Mon, Feb 25, 2013 at 11:41 AM, Chad Rockey
<chadrockey at willowgarage.com>wrote:

> https://github.com/chadrockey/rep/blob/laserscanner/rep-0138.rst
>
> I've posted REP 138 for review.  The Github pull request is available here:
> https://github.com/ros-infrastructure/rep/pull/25
>
> Thanks!
>  - Chad
>
>
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