All, here were the notes captured from the first meeting (thanks to @mjeronimo): Michael Ferguson o Comment: Task dispatch engine: make this a separate library? o Should implement continuous re-planning in the navigation node o ROS2: compress these modules into same process? Warning: Environmental model across many processes could be performance issue Huge state machine graphs floating around Could we solve with local caching? o Questions Porting A* and DWA or re-implementing? - Mostly porting, with some refactoring Add some unit tests? Yes, we plan to have unit tests Working on a branch, review upon integration into master? Yes we will integrate into master, branch is for temporary / work in progress code Timeline? December 14th (Dirk mentioned Crystal release) Fully working system? Default platform? Turtlebot3 David Lu o Sharing of resources One node for move base Have to pass entire cost map Part of the reason to combine it was performance-related Overall trade-off between ability control things vs. ability to be modular Would we be better off (nav core) not having the cost map object not managed at the high level Planner tracking its own cost map What you lose is ability to call specific recoveries o 3D version of DWA :) Adam Duncan (Amazon) o ROS2 design; fundamentally aren't achievable in ROS2? o Any core components missing on ROS2 o Tf2 message filter Ray Cole (Amazon, lead engineer on internal team, ROS) o Performance: areas to try to test? Use cases, data flow. Something to do early on o Introspection into what's going on? Management console. Errors, invalid states Productized Tom Moore o No comments Wei Zhi Liu o No comments Dirk Thomas o Overhead between processes Could put upper cap on cross-language capability Could incur high run-time cost Could stay within same language, build into shared libraries Shivang Tripathi o No comments "Steve" o No comments "Doug" o No comments --- [Visit Topic](https://discourse.ros.org/t/ros2-navigation-working-group-kick-off/5559/5) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: