ROS2 Navigation WG - next Thursday 10/18/18 10am Pacific (GMT -7:00)

Next Generation ROS
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All,
Sorry it has been awhile since we had a meeting. We’re having a meeting next Thursday.

Thursday, October 18

10:00 – 11:00am

Join Hangouts Meet

Join by phone

‪+1 470-326-0279‬ PIN: ‪345 848 516‬#

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Also, please reply here if you plan to attend so we have some idea of who to expect.

Thanks,
Matt

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I’ll be there, I’d like to see how things have progressed.

Thanks,
Ray

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I’ll be there!

-Fergs

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All,
We have a lot to cover, so we’ll probably go until 11:30 tomorrow:

Agenda: (about 5-10 minutes on each)

  • Current status
  • System overview with comparison to ROS Navigation
  • AMCL / Localization
  • Map Server
  • Costmaps
  • Mission Execution
  • Navigation
  • Global Planner
  • Local Planner

For each topic, we’re prepping a README in the repo which will explain what we’ve done and why. We’ll keep it high level and quick, but can obviously take more questions off-line through github issues.

Last topic:
Help Wanted - we’ll try to ID some issues where people could help if they’re interested

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I’ll be there as well. Thanks!

~ Ian

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Sorry, the calendar link was broken, so I removed it, but the “Join Hangouts Meet” link should be all you need to join in tomorrow.

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So sorry but I have completely mismanaged my calendar. I have a conflict and will not be able to attend, I’m going to try to get one of our other engineers to attend in my stead. Are you planning on posting a summary? I would really like to understand the progress and timelines.

Thanks,
Ray

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I’ll be planning to attend.

-Nick

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Ray, no problem. We’ll post some notes. Also we have been documenting what we plan to cover in several PRs. See this issue for links:

If you want to read through those and post feedback to the PRs, that would be great.

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I might add a timezone in the future for those that don’t know you’re in Oregon.

Steve

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You’re right, it’s in the title but not the body, I thought I had it in both

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Oops, no you’re right, I didn’t read the title closely. Disregard…

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Hi! I’m in, sorry, didn’t read the request for confirmation till now

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Here are the notes from last week’s meeting. Thank you to all who attended!

ROS2 Navigation WG

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

Agenda: (about 5-10 minutes on each)

Participants:

  • Sam - new attendee
  • Steve Macenski (Simbe Robotics)
  • Mike Ferguson
  • Stephen Phillips
  • Nick Burek (Amazon)
  • Jorge Santos Simon (Magazino)
  • Mauro Passerino (iRobot)
  • Ross Desmond (Amazon)
  • Daniel Stonier (Toyota)
  • Ian McMahon (Toyota)
  • David Lu
  • Intel (Matt, Mike, Carl, Mohammad, Brian, Carlos)

Current status

System overview with comparison to ROS Navigation

AMCL / Localization

Map Server

Costmaps

Mission Execution

Navigation (Simple Navigator and BT Navigator)

Global Planner

  • https://github.com/ros-planning/navigation2/pull/198
  • Jorge: can load other planners as plugins? Pattern is different now, each planner implements the ComputePathToPoseServer.
  • Look into implementing a simple planner. – Carlos: should we implement minimal examples for each module: minimalPlanner, minimalController, minimalAMCL?

Local Planner

Other questions

Ferguson: Stack to the point where it can run on hardware? He can help on that.

Ross: What is the reasoning to use a world model for the api to costmap_2D and instead use a plugin? Some local planners use different concepts of path, such as a vector field, or series of waypoints + vector field to compute a local trajectory, how would this design solve passing that data to the local planner?

  • We believe this would be handled by adding the corresponding action type for the planner in question, however an example would help us to test that reasoning
  • Ross - please file an issue with an example of a planner, so we can determine if we’re able to handle that or similar planners.

Steve: Need a migration plan from Task to Actions lib

  • Matt is currently working with OSRF and will file issues for the work needed when the design is understood