New TIME - ROS2 Navigation WG - Thursday 11/1 8:00 am Pacific (GMT -7:00)

Note the time change this week to 8:00 am:

Navigation2 WG
Thursday 10/25/18
10am Pacific (GMT -7:00)

Conferencing details

Hangouts Meet
‎(‪US‬) ‪+1 423-588-1304‬
PIN: ‪426 363 201#‬

Our repo:

Please reply if you plan to attend so that we know who to expect.


I intend to be there. I’m still catching up on the navigation work though so I expect mainly to absorb.

I should be there as well

Thanks all for attending today. Here are some notes:

Attendees: @mkhansen, @mjeronimo, @cdelsey, @mhpanah, @bpwilcox, @dlu, @mikeferguson, @smac, @IanTheEngineer, @gbiggs

October recap -

  • Great progress over month of October:
    – Merged 78 Pull Requests
    – Closed 42 Issues
    – Excluding merges, 9 authors have pushed 169 commits to master and 170 commits to all branches. On master, 441 files have changed and there have been 9,131 additions and 5,454 deletion
    – Added Travis CI and ROS2 CI (bloom) to the repo

Current Status -

  • Had basic Navigation working using Gazebo and RVIZ over the ROS1 bridge with Bouncy last week
  • Moved to master branches for all ROS2 packages to get Gazebo in ROS2
  • Using turtlebot3_simulations ros2 branch from ROBOTIS
    – able to teleop the robot in the Gazebo simulation using
  • Running into some issues when running Navigation2
    – some transforms missing: odom -> base_footprint -> base_scan
    ---- work-around is using static_transform_publisher for now
    – local_costmap seems to be using wall clock time not sim time
    ---- work around this by using ‘ros2 set param local_costmap use_sim_time true’
  • Having issues with Gazebo transforms, publishing ‘Z’ value as though the robot is falling (gravity)

Behavior Tree / Mission Execution overview - Mike Jeronimo (@mjeronimo )

  • Mike will post the files he reviewed later
  • Need to use standard ROS messages for Path
  • “Tolerance” to a pose should be optional part of the Navigate to Pose message and needs to be x,y,z,r,p,y.
    – Should there be a boolean flag to set to use the tolerance? False = use default?
    ---- Mike will open an issue for more discussion
    – Tolerance could be available in the BT editor (Groot)
    – Can we add velocity to endpoint (ie. a ‘rolling stop’)?
    ---- Need an issue for this also
    – Recovery modes should work by default without need for user configuration

Global Planning - question from David Lu (@DLu)

  • Can we re-plan with a new plan every second?
    – Yes, although currently we have to cancel and send a new plan each time
  • Should make sure pre-empt option is available that will keep current state
  • Will address as part of move to ROS2 Actions

CI - Steve Macenski (@smac)

  • Steve set bloom up for the navigation2 repo
  • four packages need to be removed from our ros2 dependencies.repos file before it will fully work:
    – Behavior Tree - uses catkin
    – XMLRPCPP - will be removed (open issue)
    – launch - currently using a patched version due to timing issue
    – message_filters - issue #274

AMCL - Can we remove the rosbag code? Need an issue filed for this

Quote of the Day:
“Never assume the navigation code knows what it’s doing” - @DLu

Thanks all for a great meeting!

1 Like

Is there a sync this week?