anchor.diff:  }
   ----
   
  -There is not a lot of documentation, but the standard use case should look similar to the code below.
  +There is not a lot of documentation, but we assume that the resulting code should look something like the following snippet.
   
   [source,matlab]
   ----
  
positive.code: 
  So far we didn't have a chance to use the library in a project, so our impressions are purely based on a quick look at the toolbox files and the compiled Java bytecode. As far as we could tell they built a small Java library that wraps RosJava functionality and provides an interface that is easier to call from MATLAB. Most of the actual logic seems to be implemented in MATLAB code, but they make extensive use of various Java libraries for problems that would be difficult to implement in pure MATLAB, e.g., listing networking interfaces or doing in-memory decompression of images.
  
  The underlying Java interface is completely hidden from users as all of the Java calls happen inside of wrapping MATLAB classes. For example, there is a wrapper class for each Java message type that exposes typical MATLAB properties (get/set) that modify the state of the underlying Java object. Similarly, all Java exceptions get intercepted and wrapped in a MATLAB exception before being exposed to the user. The code below shows a simplified example of a message wrapper.
  
  [source,matlab]
  ----
  
negative.code: end
  ----
  
  A minor issue we found when looking through the code was that the decoding step _fbk = types.feedback(msg.data)_ forces two unnecessary translations due to _msg.data_ being a _byte[]_, which automatically gets converted to and from _int8_. This could result in a noticeable performance hit when receiving larger messages (e.g. images) and could be avoided by adding an overload that accepts a non-primitive type that does not get translated, e.g., _fbk = types.feedback(msg)_. The Java classes also don't implement _Serializable_, which could become a problem when trying to save the workspace. 
  
  Overall, we think that this is well thought out API and a great example of a minimum viable interface that works well in practice.
  
  