<html xmlns:v="urn:schemas-microsoft-com:vml" xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns:m="http://schemas.microsoft.com/office/2004/12/omml" xmlns="http://www.w3.org/TR/REC-html40">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
<meta name="Generator" content="Microsoft Word 12 (filtered medium)">
<style><!--
/* Font Definitions */
@font-face
{font-family:Calibri;
panose-1:2 15 5 2 2 2 4 3 2 4;}
@font-face
{font-family:Tahoma;
panose-1:2 11 6 4 3 5 4 4 2 4;}
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0in;
margin-bottom:.0001pt;
font-size:12.0pt;
font-family:"Times New Roman","serif";}
a:link, span.MsoHyperlink
{mso-style-priority:99;
color:blue;
text-decoration:underline;}
a:visited, span.MsoHyperlinkFollowed
{mso-style-priority:99;
color:purple;
text-decoration:underline;}
tt
{mso-style-priority:99;
font-family:"Courier New";}
span.EmailStyle18
{mso-style-type:personal-reply;
font-family:"Calibri","sans-serif";
color:#1F497D;}
.MsoChpDefault
{mso-style-type:export-only;}
@page WordSection1
{size:8.5in 11.0in;
margin:1.0in 1.0in 1.0in 1.0in;}
div.WordSection1
{page:WordSection1;}
--></style><!--[if gte mso 9]><xml>
<o:shapedefaults v:ext="edit" spidmax="1026" />
</xml><![endif]--><!--[if gte mso 9]><xml>
<o:shapelayout v:ext="edit">
<o:idmap v:ext="edit" data="1" />
</o:shapelayout></xml><![endif]-->
</head>
<body lang="EN-US" link="blue" vlink="purple">
<div class="WordSection1">
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Kartik,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Based on our customers, which I admit is probably a very narrow viewpoint, there would be no need for backwards compatibility. Our customers aren’t interested
in the latest and greatest. What’s more important is that the version that they are using is robust and reliable. In practice this might result in porting critical bug fixes back to “certified” versions for those customers that need it, but I would hope
these would be few and far between.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">I wouldn’t want to limit ROS development by imposing backwards compatibility requirements. As ROS and associated libraries become more mature we could then
impose backwards compatibility requirements.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">I think what you point out is certifying versions of ROS will require significant amounts of testing development effort. The hope would be that the testing
software component would not have to be reworked every time we decide to created a certified version of ROS, thereby imposing some sort of backwards compatibility requirement. There is certainly a balancing act that we as a community need to maintain so that
we can have certified versions of ROS with commercial acceptance as well as freedom to change and develop ROS as needed to meet research objectives.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Shaun Edwards<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Senior Research Engineer<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Manufacturing System Department<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><a href="http://robotics.swri.org">http://robotics.swri.org</a><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><a href="http://rosindustrial.swri.org/">http://rosindustrial.swri.org/</a><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><a href="http://ros.swri.org/">http://ros.swri.org</a><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Southwest Research Institute<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">210-522-3277<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<div style="border:none;border-top:solid #B5C4DF 1.0pt;padding:3.0pt 0in 0in 0in">
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif"">From:</span></b><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif""> ros-users-bounces@code.ros.org [mailto:ros-users-bounces@code.ros.org]
<b>On Behalf Of </b>Kartik Babu<br>
<b>Sent:</b> Monday, April 16, 2012 9:53 AM<br>
<b>To:</b> User discussions<br>
<b>Subject:</b> Re: [ros-users] Enterprise Version of ROS<o:p></o:p></span></p>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Aside from maximizing the MTBF to meet industrial standards, the pace at which API either change or deprecated is also another topic to address. <o:p></o:p></p>
<div>
<p class="MsoNormal"><o:p> </o:p></p>
</div>
<div>
<p class="MsoNormal">There is also the issue of dependence on other libraries for important functionality, (OpenCV, PCL etc.). OpenCV seems fairly stable, but PCL like ROS is still 'settling in'.<o:p></o:p></p>
</div>
<div>
<p class="MsoNormal"><o:p> </o:p></p>
</div>
<div>
<p class="MsoNormal">How would we reconcile the need for new 'certified versions' to be backwards compatible with older certified releases, and the need to incorporate new, cutting edge packages so that ROS can grow as a whole?<o:p></o:p></p>
</div>
<div>
<p class="MsoNormal"><o:p> </o:p></p>
</div>
<div>
<p class="MsoNormal">K<o:p></o:p></p>
<div>
<p class="MsoNormal"><o:p> </o:p></p>
<div>
<p class="MsoNormal">2012/4/16 Adolfo Rodríguez Tsouroukdissian <<a href="mailto:adolfo.rodriguez@pal-robotics.com" target="_blank">adolfo.rodriguez@pal-robotics.com</a>><o:p></o:p></p>
<p class="MsoNormal" style="margin-bottom:12.0pt"><o:p> </o:p></p>
<div>
<div>
<p class="MsoNormal">On Mon, Apr 16, 2012 at 4:40 AM, Jonathan Bohren <<a href="mailto:jonathan.bohren@gmail.com" target="_blank">jonathan.bohren@gmail.com</a>> wrote:<o:p></o:p></p>
<div>
<p class="MsoNormal">On Sun, Apr 15, 2012 at 9:31 PM, Edwards, Shaun M. <<a href="mailto:sedwards@swri.org" target="_blank">sedwards@swri.org</a>> wrote:<o:p></o:p></p>
<div>
<blockquote style="border:none;border-left:solid #CCCCCC 1.0pt;padding:0in 0in 0in 6.0pt;margin-left:4.8pt;margin-right:0in">
<div>
<p class="MsoNormal">I agree that hardware drivers are a good place to start. However, I think the sooner we can certify ROS core (communications, node handling, etc..), the better. <o:p></o:p></p>
</div>
</blockquote>
<div>
<p class="MsoNormal"> <o:p></o:p></p>
</div>
</div>
</div>
<div>
<p class="MsoNormal">I know this is the first question I get asked by someone unfamiliar with ROS when I mention it. This is an especially important focus here at Hopkins where so many research systems are being developed for applications with high-cost-of-failure
like robotic surgery, deep sea exploration, and on-orbit telerobotics.<o:p></o:p></p>
</div>
</div>
<div>
<p class="MsoNormal" style="margin-bottom:12.0pt"><br>
I see two very valid and mostly orthogonal use cases so far.<br>
<br>
1. Ensuring that certain core ROS functionalities comply with some (3rd-party certified) criteria, so that people that deal with high-cost-of-failure or safety-critical systems can trust what they are using.<br>
<br>
2. Ensuring that a certain piece of hardware/software is ROS-compatible, so that people that venture into using them can expect compliance with specified ROS interfaces (no surprises attached).<br>
<br>
I see great value in both, but to clarify, my initial answer to this thread was oriented mostly towards 1.<span style="color:#888888"><br>
<br>
Adolfo.</span><o:p></o:p></p>
</div>
<blockquote style="border:none;border-left:solid #CCCCCC 1.0pt;padding:0in 0in 0in 6.0pt;margin-left:4.8pt;margin-right:0in">
<div>
<div>
<p class="MsoNormal"><span style="color:#888888"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="color:#888888">-j<o:p></o:p></span></p>
</div>
<p class="MsoNormal"><span style="color:#888888"><br>
-- <br>
Jonathan Bohren<o:p></o:p></span></p>
<div>
<p class="MsoNormal"><span style="color:#888888">PhD Student<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="color:#888888">Dynamical Systems and Control Laboratory<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="color:#888888">Laboratory for Computational Sensing and Robotics<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="color:#888888">The Johns Hopkins University<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="color:#888888"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="color:#888888"><a href="tel:%28707%29%20520-4736" target="_blank">(707) 520-4736</a><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="color:#888888"><a href="mailto:jbo@jhu.edu" target="_blank">jbo@jhu.edu</a><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="color:#888888"><o:p> </o:p></span></p>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
</div>
<div>
<p class="MsoNormal" style="margin-bottom:12.0pt">_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><o:p></o:p></p>
</div>
</blockquote>
</div>
<p class="MsoNormal"><br>
<br clear="all">
<o:p></o:p></p>
<div>
<div>
<p class="MsoNormal"><br>
-- <br>
Adolfo Rodríguez Tsouroukdissian<br>
Robotics engineer<br>
<a href="mailto:adolfo.rodriguez@pal-robotics.com" target="_blank">adolfo.rodriguez@pal-robotics.com</a><br>
<a href="http://www.pal-robotics.com/" target="_blank">http://www.pal-robotics.com</a><br>
<br>
PAL ROBOTICS S.L<br>
c/ Pujades 77-79, 4º4ª<br>
08005 Barcelona, Spain.<br>
Tel. <a href="tel:%2B34.93.414.53.47" target="_blank">+34.93.414.53.47</a><br>
Fax.<a href="tel:%2B34.93.209.11.09" target="_blank">+34.93.209.11.09</a><br>
<br>
AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden contener información privilegiada y/o confidencial que está dirigida exclusivamente a su destinatario. Si usted recibe este mensaje y no es el destinatario indicado, o el empleado encargado
de su entrega a dicha persona, por favor, notifíquelo inmediatamente y remita el mensaje original a la dirección de correo electrónico indicada. Cualquier copia, uso o distribución no autorizados de esta comunicación queda estrictamente prohibida.<span style="font-size:10.0pt;color:#333333"><br>
<br>
</span>CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may contain confidential information which is privileged and intended only for the individual or entity to whom they are addressed. If you are not the intended recipient, you are hereby
notified that any disclosure, copying, distribution or use of this e-mail and/or accompanying document(s) is strictly prohibited. If you have received this e-mail in error, please immediately notify the sender at the above e-mail address.<o:p></o:p></p>
</div>
</div>
<p class="MsoNormal" style="margin-bottom:12.0pt"><br>
_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><o:p></o:p></p>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
</div>
</div>
</div>
</body>
</html>