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
---
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