move_base/Reviews/2009-10-06_Doc_Review

Reviewer:

Instructions for doing a doc review

See DocReviewProcess for more instructions

1. Does the documentation define the Users of your Package, i.e. for the expected usages of your Stack, which APIs will users engage with?
2. Are all of these APIs documented?
3. Do relevant usages have associated tutorials? (you can ignore this if a Stack-level tutorial covers the relevant usage), and are the indexed in the right places?
4. If there are hardware dependencies of the Package, are these documented?
5. Is it clear to an outside user what the roadmap is for the Package?
6. Is it clear to an outside user what the stability is for the Package?
7. Are concepts introduced by the Package well illustrated?
8. Is the research related to the Package referenced properly? i.e. can users easily get to relevant papers?
9. Are any mathematical formulas in the Package not covered by papers properly documented?

For each launch file in a Package

1. Is it clear how to run that launch file?
2. Does the launch file start up with no errors when run correctly?
3. Do the Nodes in that launch file correctly use ROS_ERROR/ROS_WARN/ROS_INFO logging levels?

Concerns / issues

Stu

• "The move_base package provides an implementation of a robot_action"
  • Do you mean "robot_action?" Also, link to actionlib
    • Fixed
• In the entire opening paragraph, everything that you refer to should be a link.
  • Updated to link to packages
• "Action Input/Output Topics" should probably be "Action Subscribed/Published Topics"
  • Changed as suggested

• Several of your parameters allow the user to select among plugins. Each of these should state the type of plugin and link to the appropriate *_interface package.

  • They now refer to the nav_core package for the interfaces

• base_global_planner parameter: Say (link to?) what type of plugin

  • Now gives the specific plugin type
• Consider explaining why there are two costmaps. "The move_base node also maintains two costmaps one global and one local that can be used for navigation tasks" isn't a very clear sentence. Can they both be used for navigation tasks, or just the local one? Isn't the whole point to perform navigation tasks?
  • I don't have a detailed explanation here, but I reworked the sentence so it makes sense and linked to the costmap_2d package

Conclusion