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Improve documentation for TransformStamped.msg #113

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May 19, 2020
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Improve documentation for TransformStamped.msg #113

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Improve documentation for TransformStamped.msg
tfoote May 18, 2020
9ae4201
updates from review
tfoote May 18, 2020
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8 changes: 6 additions & 2 deletions geometry_msgs/msg/TransformStamped.msg
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Original file line number Diff line number Diff line change
@@ -1,9 +1,13 @@
# This expresses a transform from coordinate frame header.frame_id
# to the coordinate frame child_frame_id
# to the coordinate frame child_frame_id at the time of header.stamp
#
# This message is mostly used by the
# <a href="http://www.ros.org/wiki/tf">tf</a> package.
# <a href="http://www.ros.org/wiki/tf2">tf2</a> package.
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@tfoote hmm are we reusing the ROS wiki for ROS 2?

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Good point updated to use index.ros.org

# See its documentation for more information.
#
# The child_frame_id is necessary in addition to the frame_id
# in the Header to communication the full reference for the transform
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@tfoote

Suggested change
# in the Header to communication the full reference for the transform
# in the Header to communicate the full reference for the transform

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I do wonder if this paragraph isn't just redundant with the definition of transform and the first paragraph.

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It is somewhat redundant but people asked for clarification in the API review so I figured another sentence could help.

# in a self contained message.

std_msgs/Header header
string child_frame_id # the frame id of the child frame
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