Navigation Working Group Meeting Minutes - August 17
Attendees:
Steve Macenski
Josh Wallace
Alexey Merzlyakov
Ryan Friedman
Sachin Kumar
New people introduce themselves
- Craig Lawton-Devine
Topics
Announcements:
- New binary release of Nav2, SLAM Toolbox, etc in Iron and Humble!
New additions of note:
- Added new collision detector node to the collision monitor package which enables detection and publication of collision state to an external server to take an appropriate application-specific action (Pixel Robotics)
- A few flaky system tests have been resolved out of a flaky state (Alexey Merzlyakov)
- Adding UID of the beahvior tree nodes to the behavior tree status publication topic (Bosch)
- New Multirobot launch file for cloned instances of the same robot N times and renamed original launch file to be “unique” for N unique robot instances (LG)
Ongoing:
- Adding velocity-based polygons to the collision monitor to enable robot-state specific polygons (Dexory)
- Smac Planner remove zig-zags caused in Hybrid-A* due to angle quantization bin skipping
New bugs of note
- None, but several new tickets marked with “good first issue” if anyone’s new and/or looking for something to help with!
Anything else?
Round Robbin (questions, comments, what youre working on, updates, etc)
- Steve: Smac Planner remove zig-zags caused in Hybrid-A* due to angle quantization bin skipping
- Josh: Fixed integration tests for nav2_route, start bfs visualization
- Alexey: reviewing collision monitor pr’s, fixing flakey CI tests
- Ryan: Continued integration of nav2 with arduoPilot