Discussion / points about the evolution of envire

  • jakob: different paradigm than the rest of rock. Mainly because of different datatypes between envire maps and other libraries. Transformer is also doubling some functionality that exists in envire.
  • alex: interaction a bit flaky with rock because of data type duplication
  • sylvain: one of the upgrade path of envire was the ability to embed any data type as an envire map. Smooth upgrade path possible: create an adapter template, using multiple inheritance.
  • alex: envire visualization plugins are not vizkit plugins
  • can't save visualization
  • sylvain: ability to structure the plugins (have tree structure)
  • alex: ability to create generic orogen component that takes data and generates the corresponding environment
  • alex: ruby bindings ? => maybe try swig. Also, one could develop the bindings just needed to build an environment.


  • every visualization plugin should become a vizkit plugin (get rid of envire visualization plugins). Ergo, new visualizations should be vizkit plugins. Obviously, that's not easy to do right now.
Last modified 10 years ago Last modified on 03/15/12 10:51:36