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This reverts commit 0e9e63c.
| difficult to rearrange the network topology of ROS nodes without modifying and recompiling the node implementation | ||
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| <!-- TODO: we now support all message types and not just standardized --> |
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I don't like this part a lot anymore since we now support any message type so especially the sentence right after this, line 20, is not really correct anymore. At this point, signals are just ROS 2 publishers and subscribers that take their topic name from a parameter
| open-source [`state_representation`](https://aica-technology.github.io/control-libraries/versions/9.0.1/md__2github_2workspace_2source_2state__representation_2_r_e_a_d_m_e.html) | ||
| library for Cartesian and joint state classes in C++ and Python. | ||
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| <!-- TODO: all other state rep types too --> |
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To be done in a followup PR
| writing it back into a message can involve a fair amount of boilerplate code. When developing an AICA component, signals | ||
| are usually automatically converted to and from the corresponding data object. | ||
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| ## Basic signal types |
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Also in a follow up PR, I want to provide a table that explains what these message types are mapped to, e.g. double -> Float64
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One of my concerns reading this is that we say:
Additionally, ROS 2 messages are data packets, not data objects. Parsing data from a message, manipulating it and writing it back into a message can involve a fair amount of boilerplate code. When developing an AICA component, signals are usually automatically converted to and from the corresponding data object.
but I don't find it accurate. ROS messages are structs after all. This also feels like we are deviating from ROS language a bit (which we eventually have to but we should make a clear connection first).
I would personally prefer/suggest something more along the lines of
ROS 2 messages are lean data structures with no additional functionality other than storing data. Therefore, parsing data from a message, manipulating it and writing it back into a message can involve a fair amount of boilerplate code. Conversely, the AICA System will typically convert these message structures to and from objects that encapsulate a lot more functionality for manipulating, transforming, and in general operating on their contents.
bpapaspyros
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bpapaspyros
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some concerns/comments.
Also, we say
ROS 2 topics are messages ...
which is not accurate. We could lightly edit by saying
ROS 2 messages flow through namespaced topics that publishers and subscribers can refer to ...
or something like that. I mention it in another comment, but I think we are deviating a bit from ROS language but that might not make much sense to ROS users (it might not affect newcomers, but it would still not portray the actual structure)
| difficult to rearrange the network topology of ROS nodes without modifying and recompiling the node implementation | ||
| itself. | ||
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| <!-- TODO: we now support all message types and not just standardized --> |
| writing it back into a message can involve a fair amount of boilerplate code. When developing an AICA component, signals | ||
| are usually automatically converted to and from the corresponding data object. | ||
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| ## Basic signal types |
There was a problem hiding this comment.
One of my concerns reading this is that we say:
Additionally, ROS 2 messages are data packets, not data objects. Parsing data from a message, manipulating it and writing it back into a message can involve a fair amount of boilerplate code. When developing an AICA component, signals are usually automatically converted to and from the corresponding data object.
but I don't find it accurate. ROS messages are structs after all. This also feels like we are deviating from ROS language a bit (which we eventually have to but we should make a clear connection first).
I would personally prefer/suggest something more along the lines of
ROS 2 messages are lean data structures with no additional functionality other than storing data. Therefore, parsing data from a message, manipulating it and writing it back into a message can involve a fair amount of boilerplate code. Conversely, the AICA System will typically convert these message structures to and from objects that encapsulate a lot more functionality for manipulating, transforming, and in general operating on their contents.
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| However, any ROS 2 message can be implemented as a signal using the `custom` signal type. As long as the custom type | ||
| between two connected components has the same name, the application will be valid. | ||
| However, any ROS 2 message type can be implemented as a signal in an AICA application. The syntax for doing this is |
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We say publishers/subscribers are signals, but here it feels like we now identify them with messages too. I see where we are going with this, but I think it's a bit inconsistent in its use.
ROS uses the following:
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Description
This PR makes a few updates to the signals page in the docs.
Review guidelines
Estimated Time of Review: 5 minutes
Checklist before merging: