New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

add rosparam naming conventions [REP 146] #104

Open
wants to merge 4 commits into
base: master
from
Jump to file or symbol
Failed to load files and symbols.
+74 −0
Diff settings

Always

Just for now

Copy path View file
@@ -0,0 +1,74 @@
REP: 146
Title: ROS Robot Parameter Naming Convention
Author: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Status: Draft
Type: Informational
Content-Type: text/x-rst
Created: 31-Jly-2015
Post-History:
Abstract
========
This REP aims to define the best practices for robot related parameter

This comment has been minimized.

@Kukanani

Kukanani Nov 15, 2018

Suggested change Beta
This REP aims to define the best practices for robot related parameter
This REP aims to define best practices for robot-related ROS parameters
name space for making robot-agnostic packages.

This comment has been minimized.

@Kukanani

Kukanani Nov 15, 2018

Suggested change Beta
name space for making robot-agnostic packages.
for use in robot-agnostic packages.
Motivation
==========
As the number of ROS-supported robot increases, we will write

This comment has been minimized.

@Kukanani

Kukanani Nov 15, 2018

Suggested change Beta
As the number of ROS-supported robot increases, we will write
As the number of ROS-supported robots increases, we will write
robot-agnostic packages, but still they need robot-specific
information as calibration parameters.

This comment has been minimized.

@Kukanani

Kukanani Nov 15, 2018

Suggested change Beta
information as calibration parameters.
information, such as calibration parameters.
A `robot_description` parameter is widely shared naming convention

This comment has been minimized.

@Kukanani

Kukanani Nov 15, 2018

Suggested change Beta
A `robot_description` parameter is widely shared naming convention
The `robot_description` parameter is an example of a widely shared naming convention
among ROS community and this REP proposes such conventions for robot specific information on

This comment has been minimized.

@Kukanani

Kukanani Nov 15, 2018

Suggested change Beta
among ROS community and this REP proposes such conventions for robot specific information on
among the ROS community. This REP proposes similar conventions for robot-specific information to be stored on the
parameter, so application program can build their program on top of that.

This comment has been minimized.

@Kukanani

Kukanani Nov 15, 2018

Suggested change Beta
parameter, so application program can build their program on top of that.
parameter server, helping applications that use these parameters to more easily run on a greater range of platforms.
Specifications
==============
Parameters
----------
robot_description
'''''''''''''''''
`robot_description` stores robot kinematics / geometry information using
URDF format.

This comment has been minimized.

@Kukanani

Kukanani Nov 15, 2018

Suggested change Beta
URDF format.
the URDF format.
robot_type
''''''''''
The `robot_type` should capture the name of the class of robot in a way that a user would understand the scope of the robot. If it's a commercial product it is recommended to use the production model name. ` For example 'pr2' in PR2 robot case [1], 'pepper' in Pepper robot case and 'fetch' in Fetch robot cases.

This comment has been minimized.

@Kukanani

Kukanani Nov 15, 2018

Suggested change Beta
The `robot_type` should capture the name of the class of robot in a way that a user would understand the scope of the robot. If it's a commercial product it is recommended to use the production model name. ` For example 'pr2' in PR2 robot case [1], 'pepper' in Pepper robot case and 'fetch' in Fetch robot cases.
The `robot_type` should capture the name of the class of robot in a way that a user would understand the scope of the robot. If it's a commercial product it is recommended to use the production model name. For example 'pr2' in PR2 robot case [1], 'pepper' in Pepper robot case and 'fetch' in Fetch robot cases.
robot_name
''''''''''
`robot_name` stores robot name. It should be set to make sure that this robot instance is unique on the system in much that computers are recommended to have unique hostnames. For the case of PR2 robot, the default robot name is 'robot' [1], but other individuals have named 'james', 'gutsy' etc...

This comment has been minimized.

@Kukanani

Kukanani Nov 15, 2018

Suggested change Beta
`robot_name` stores robot name. It should be set to make sure that this robot instance is unique on the system in much that computers are recommended to have unique hostnames. For the case of PR2 robot, the default robot name is 'robot' [1], but other individuals have named 'james', 'gutsy' etc...
`robot_name` stores the robot's unique name. It should be set to make sure that this robot instance is unique on the system, in the same way that computers are recommended to have unique hostnames. For the case of PR2 robot, the default robot name is 'robot' [1], but other individuals have named 'james', 'gutsy' etc...
Examples
========
Example behaviors::
$ rosparam get robot_name
olive
$ rosparam get robot_type
pepper
References
==========
.. [1] PR2 robot.yaml
(https://github.com/pr2-debs/pr2-core/blob/master/root/etc/ros/robot.yaml)
Copyright
=========
This document has been placed in the public domain.
ProTip! Use n and p to navigate between commits in a pull request.