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iRobotEducation / irobot_create_msgs

Action, message and service definitions used by the iRobot® Create® Platform
BSD 3-Clause "New" or "Revised" License
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Add actions for API used by Root Coding robot #1

Closed justinIRBT closed 2 years ago

alsora commented 2 years ago

Minor comment: the geometry_msgs messages (e.g. Pose and Quaternion) express values as double (float64 in IDL). I think we should use that in the input as well to be consistent. EDIT: following my second comment, after looking at the nav2 actions I noticed that they also use float32 for this kind of things. So feel free to ignore this.

alsora commented 2 years ago

I think we should be more expressive in the feedback and result field. See the nav2 actions as example https://github.com/ros-planning/navigation2/tree/main/nav2_msgs/action They often include things like "distance traveled" and "current pose" in the feedback, and "elapsed time" in the output.

justinIRBT commented 2 years ago

I think we should be more expressive in the feedback and result field. See the nav2 actions as example https://github.com/ros-planning/navigation2/tree/main/nav2_msgs/action They often include things like "distance traveled" and "current pose" in the feedback, and "elapsed time" in the output.

Regarding the feedback, I am providing the same result as root https://github.com/iRobotEducation/root-robot-ble-protocol#command-17---navigate-to-position-finished-response

I can provide more intermediate feedback, like distance to goal