Thanks all for attending today. Here are some notes: Attendees: @mkhansen, @mjeronimo, @cdelsey, @mhpanah, @bpwilcox, @dlu, @mikeferguson, @smac, @IanTheEngineer, @gbiggs October recap - https://github.com/ros-planning/navigation2/pulse/monthly - 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** ](https://github.com/ros-planning/navigation2/compare/master@%7B1538431444%7D...master) -- 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 turtlebot3.world - 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! --- [Visit Topic](https://discourse.ros.org/t/new-time-ros2-navigation-wg-thursday-11-1-8-00-am-pacific-gmt-7-00/6666/4) 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: