{"action":"created","comment":{"url":"https://api.github.com/repos/ros-industrial/rep/pulls/comments/33581250","id":33581250,"diff_hunk":"@@ -109,43 +109,46 @@ The dynamic joint state is meant to mimic both the ROS JointState and FollowJoin\n         accelerations[] \n         effort[]\n         position_desired[]\n-        position_errors[]\n+        position_error[]\n         velocity_desired[]\n-        velocity_errors[]\n+        velocity_error[]\n+        accel_desired[]\n+        accel_error[]\n         effort_desired[]\n         effort_error[]\n     \n     \n Dynamic Group Status\n----------\n-The dynamic group status is meant to mimic both the ROS-I RobotStatus message.  See the RobotStatus message[#rbt_stat]_ for field descriptions.::\n+--------------------\n+The dynamic group status is meant to mimic both the ROS-I RobotStatus message.  See the RobotStatus message [#rbt_stat]_ for field descriptions.::\n \n     length: true message/data length \n     header: standard msg_type, comms_type, reply_code fields \n     num_groups: # of motion groups included in this message \n     group[]: # length of this array must match num_groups\n         id:   control-group ID for use on-controller \n-        mode:\n-        e_stopped:\n         drives_powered:\n-        motion_possible:\n-        in_motion:\n+        e_stopped:\n+        error_code:\n         in_error:\n+        in_motion:\n+        mode:\n+        motion_possible:","path":"rep-I0001.rst","position":92,"original_position":92,"commit_id":"af8a3cacf075b5648579ce5b6bfd72e9cade4380","original_commit_id":"af8a3cacf075b5648579ce5b6bfd72e9cade4380","user":{"login":"JeremyZoss","id":3855378,"avatar_url":"https://avatars.githubusercontent.com/u/3855378?v=3","gravatar_id":"","url":"https://api.github.com/users/JeremyZoss","html_url":"https://github.com/JeremyZoss","followers_url":"https://api.github.com/users/JeremyZoss/followers","following_url":"https://api.github.com/users/JeremyZoss/following{/other_user}","gists_url":"https://api.github.com/users/JeremyZoss/gists{/gist_id}","starred_url":"https://api.github.com/users/JeremyZoss/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/JeremyZoss/subscriptions","organizations_url":"https://api.github.com/users/JeremyZoss/orgs","repos_url":"https://api.github.com/users/JeremyZoss/repos","events_url":"https://api.github.com/users/JeremyZoss/events{/privacy}","received_events_url":"https://api.github.com/users/JeremyZoss/received_events","type":"User","site_admin":false},"body":"It looks to me as though everything is consistent, after this update to the REP.  Your comments link to rev 12a74a1, but it looks like commit 4405b0d updated the header comments to match the field ordering in load/unload.","created_at":"2015-06-30T14:53:29Z","updated_at":"2015-06-30T14:53:29Z","html_url":"https://github.com/ros-industrial/rep/pull/13#discussion_r33581250","pull_request_url":"https://api.github.com/repos/ros-industrial/rep/pulls/13","_links":{"self":{"href":"https://api.github.com/repos/ros-industrial/rep/pulls/comments/33581250"},"html":{"href":"https://github.com/ros-industrial/rep/pull/13#discussion_r33581250"},"pull_request":{"href":"https://api.github.com/repos/ros-industrial/rep/pulls/13"}}},"pull_request":{"url":"https://api.github.com/repos/ros-industrial/rep/pulls/13","id":37301755,"html_url":"https://github.com/ros-industrial/rep/pull/13","diff_url":"https://github.com/ros-industrial/rep/pull/13.diff","patch_url":"https://github.com/ros-industrial/rep/pull/13.patch","issue_url":"https://api.github.com/repos/ros-industrial/rep/issues/13","number":13,"state":"open","locked":false,"title":"Update REP-I0001 with implementation-related changes/clarifications","user":{"login":"JeremyZoss","id":3855378,"avatar_url":"https://avatars.githubusercontent.com/u/3855378?v=3","gravatar_id":"","url":"https://api.github.com/users/JeremyZoss","html_url":"https://github.com/JeremyZoss","followers_url":"https://api.github.com/users/JeremyZoss/followers","following_url":"https://api.github.com/users/JeremyZoss/following{/other_user}","gists_url":"https://api.github.com/users/JeremyZoss/gists{/gist_id}","starred_url":"https://api.github.com/users/JeremyZoss/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/JeremyZoss/subscriptions","organizations_url":"https://api.github.com/users/JeremyZoss/orgs","repos_url":"https://api.github.com/users/JeremyZoss/repos","events_url":"https://api.github.com/users/JeremyZoss/events{/privacy}","received_events_url":"https://api.github.com/users/JeremyZoss/received_events","type":"User","site_admin":false},"body":"I'm working to implement this REP, and had a few suggestions for how it might be changed to improve flexibility and ease-of-use.  I also wanted to add a bit more explanation about intended usage and operation, to make sure we're all on the same page.\r\n\r\nSummary of the updates:\r\n 1. add missing fields to Dynamic_Joint_State, to match ROS API\r\n 1. reorder/add fields in Dynamic_Group_Status, to match existing `RobotStatus` msg\r\n 1. rework configuration parameter, to minimize duplication\r\n    1. don't specify topic names.  Too much duplication for nominal case.  Can achieve the same thing using remap.\r\n    1. don't specify joint-list separately for each message type.  Too much duplication.\r\n    1. allow sharing a common (minimal) config structure between nodes\r\n 1. elaborate on operation, configuration, usage, and backwards compatibility\r\n    1. single vs. multi-topic usage\r\n    1. overlapping topics (e.g. left_arm, right_arm, both_arms)\r\n    1. logic to aggregate state data\r\n\r\nNot to re-open something that's already been finalized, but I'd rather have input before everything's been 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