[cram-developers] Small API changes in higher-level CRAM v0.2 packages

[Gayane Kazhoyan]

Dear CRAM users,

For those of you who are using CRAM v0.2, and higher-level packages at
that, i.e. anything above cram_core, here is a notification about the API
changes that were introduced this week (today):

1. CRAM_PLANS/CRAM_TRANSFORMS_STAMPED package got renamed to
CRAM_PLANS/CRAM_TF, together with the corresponding ASDF system and Lisp
package names.
2. The initialization of special variables such as CRAM-TF:*FIXED-FRAME*
and CRAM-TF:*TRANSFORMER* now happens inside of the CRAM_TF package with
some reasonable initial values (e.g. "map" for *FIXED-FRAME* and
CL-TF:TRANSFORM-LISTENER for *TRANSFORMER*)
3. In packages above CRAM_3D_WORLD household objects together with their
corresponding utilities got renamed into items, in order to allow
applications outside of human household.

Please take these changes into account when updating your repositories next
time.

In order to accommodate for these changes in your own code you would need
to:

1. Search for all occurrences of CRAM_TRANSFORMS_STAMPED in your
package.xml and CMakeLists.txt files and rename them into CRAM_TF. Also
search for all occurrences of CRAM-TRANSFORMS-STAMPED in your *.lisp and
*.asd files and change them to CRAM-TF.
2. The initialization of the special variables is done through a ROS init
function. If, for example, you would like to use CL-TF2:BUFFER-CLIENT as a
*TRANSFORMER*, you need to reinitialize the variable again after your ROS
node starts. This is a dirty solution, please let me know if you have a
better idea.
3. Search for all occurrences of HOUSEHOLD-OBJECT in your *.lisp files and
change them into ITEM.

The last tag before these changes is 0.2.1. If something goes wrong let me
know or revert to that tag.

After the repositories migrate back to the cram-code Github organization
(in a month or so) there will be no active development on the master branch
anymore, only on separate branches.

Cheers and have a nice weekend.
Gaya
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