[Rock-dev] [Rock-ROS Bridge] Access to port

[Sylvain Joyeux]

On 06/05/2013 11:08 AM, Pierre Letier wrote:
> 2. Data Types
> - Why the page Data Types need to provide a link to another page related
> only to ROS ?
Because it is oroGen documentation ... I'll just have it at both places.

> - It is not clear for which type the automatic Convertion works. What
> are the oroGen types that can be represented in ROS (plain types ?).
> Can you provide a
> list of existing Rock type that are managed by this automatic process ?
All types that you can use in an oroGen project that do not use 
multi-dimensional arrays or vectors can have a corresponding ROS message 
generated (you get a warning at generation time for those that don't 
fit). However, it creates a new message. So, if you want to use a ROS 
standard message (which is obviously not generated by oroGen) you will 
have to provide a manual conversion.

> - In the Reusing Existing ROS Messages section, for me, the distinction
> between existing Rock types (like defined in base) and the user defined
> types (defined for instance in the library) is not explicitly explained.
> This aspect is only addressed in the example page. I think the two cases
> should there be explained:
> a. if converting ROS message to Rock "internal" type (like base type),
> the existing base.orgen file (or other ?) has to be edited and the
> conversions functions added in the  existing ROSConvertions.* files
> (with a example of declaration)
> b. if converting ROS message to own user type, the component orogen file
> has to be edited (adding typekit do ros_mappings .... => ....), run
> amake that will create the convertions files and write the conversion
> functions (this point is clearly explained and illustrated in the
> current documentation)
See your point now. Will do.

> 3. Runtime Setup
> - explain that providing a connection_policy is not mandatory (then use
> standard connection)
> - provide example of connection_policy (both for input and output
> direction), like in the previous e-mail
>
> 4. Example
> - The example addresses a case based on an existing base type (Frame).
> It could be interesting to have an example based on an user type, taken
> maybe from the previous tutorials.
>
> I hope you will find these comments interesting.
Definitely. Thanks a lot for the feedback.

-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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