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icub-tech-iit / xcub-moveit2

Collect the outcomes of our study on the use of MoveIT with our robots
BSD 3-Clause "New" or "Revised" License
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Suggestions: use more specific package names? #28

Closed traversaro closed 4 days ago

traversaro commented 6 days ago

We can discuss on this in person, but I wanted to mark this down somewhere. I may be wrong, but it seems to me the CMake/ROS 2 packages installed by this repo have quite generic names (for example robot_controller, robot_moveit, test_controller) that may be prone to collisions. Such generic names are fine if they were just folders in a repo (as the name of the repo itself would result in a sort of namespace) but in this case the names are also used to install files in global location.

to avoid this problem, could it make sense to prefix all packages with xcub_moveit2_ ? This is a common pattern in ROS repos that contain multiple ROS packages see for example:

Probably it could make sense to change this before making the repo available in the superbuild (see https://github.com/robotology/robotology-superbuild/pull/1746)?

martinaxgloria commented 5 days ago

I started to have a look at the new packages names and I noticed that the standard convention for the ros2/moveit2 packages is <robot_name>_<package_name>, for example this is the panda moveit2 repository. Maybe it would be better to rely on xcub_ prefix instead of xcub_moveit2_? In this way, we would avoid package names with repetitions such as xcub_moveit2_icub_moveit_config

cc @traversaro @Nicogene

traversaro commented 5 days ago

Ok for me! However, I would try to avoid names like xcub_robot_controller and xcub_test_controller that are a bit generic and do not refer to moveit.

martinaxgloria commented 5 days ago

What about xcub_ros2_controllers? For the test_controller package, instead, it was used to test the controller performances (see here). So, if we want to avoid the name xcub_test_controller, we could move this folder somewhere else.

cc @traversaro @Nicogene

traversaro commented 5 days ago

What about xcub_ros2_controllers?

Ok, it make sense as it clarify that the package contains controllers for ros2_control.

For the test_controller package, instead, it was used to test the controller performances (see here). So, if we want to avoid the name xcub_test_controller, we could move this folder somewhere else.

What about xcub_ros2_controllers_test or xcub_moveit_test_controller ?

martinaxgloria commented 4 days ago

PR opened here:

cc @traversaro @Nicogene