Roadmap

Wish list

The list below was created while developing the current stack version. Some the listed items are already underway.

1. Reduce bandwidth of /tf topic: Do not broadcast intermediate frames (underway)

2. Reduce log statements, make better use of severity levels (underway)

3. Use a KDL subtree with only relevant joints/links, and not the whole robot tree
4. Allow more general endpoint specification
5. Investigate possible use of iTaSC

6. Move away from service-based IK calls to a plugin-based one (underway)

7. Simplify configuration files
8. Make stack robot-agnostic (and remove reem_ prefix from name)

9. Document public API (partially done/underway)

10. Add proper unit test suite

11. Create branches specific to each supported ros release (underway)

12. Compare the pipeline performance when using multiple nodes, multiple nodelets and one node (I: current implementation, II: underway)

Please feel free to add further items to the list.

Remarks on the wish list

@ 4. The implementation of this feature will involve changes mainly in the motion_adaption package and to some extend in the reem_teleop_coordinator package. It would be helpful to share some thoughts before this is tackled: see the related proposal on the motion_adaption review site.