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Intermodalics / tango_ros

ROS related software for Tango
Apache License 2.0
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Missing documentation and important constants on TangoServiceClientNodes #370

Open adamantivm opened 7 years ago

adamantivm commented 7 years ago

Trying to understand the expected behavior of TangoServiceClientNode and its callback is currently very difficult and not fully documented.

Two things that I am running into now, which I can only resolve by looking at the source code of TangoRosStreamer and copying how it is implemented there:

1- Understanding what is the expected behavior of callTangoConnectService 2- How to tell if the service started successfully or not 3- What is the meaning of the status codes returned by onTangoStatus

I suggest clarifying this in the wiki and also adding the following enum as part of the TangoServicClientNode:

// Symmetric implementation to tango_ros_node.h.
enum TangoStatus {
    UNKNOWN,
    SERVICE_NOT_CONNECTED,
    NO_FIRST_VALID_POSE,
    SERVICE_CONNECTED
}
PerrineAguiar commented 6 years ago

1 and 2 - Tutorial has been updated: http://wiki.ros.org/tango_ros_streamer/tango_ros_node#Start_streaming_Tango_data 3- Wiki has been updated: http://wiki.ros.org/tango_ros_streamer#Published_Topics

TODO: add the enum as part of the TangoServiceClientNode.