[ros-users] [Discourse.ros.org] [Next Generation ROS] ROS2 …

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 (Fetch Robotics)
* 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

* https://github.com/ros-planning/navigation2/blob/master/doc/design/ROS_COMPARISON.md
* No comments or feedback

AMCL / Localization

* https://github.com/ros-planning/navigation2/blob/master/nav2_amcl/README.md
* (Ian?) Likes making AMCL a package that can be used outside of navstack
* Jorge Santos: MRPT localization (Mobile Robot Programming Toolkit)
* “Better experience with this than with AMCL”
* http://wiki.ros.org/mrpt_localization
* [https://www.mrpt.org/
](https://www.mrpt.org/)

Map Server

* https://github.com/ros-planning/navigation2/blob/master/nav2_map_server/README.md
* Support for maps from Cartographer?

Costmaps

* https://github.com/ros-planning/navigation2/blob/master/nav2_costmap_2d/README.md
* Discussion around Dynamic Reconfigure
* See issue here: https://github.com/ros-planning/navigation2/issues/177

Mission Execution

* https://github.com/ros-planning/navigation2/pull/183

Navigation (Simple Navigator and BT Navigator)

* https://github.com/ros-planning/navigation2/blob/master/nav2_simple_navigator/README.md
* Ian (Toyota): Generalize BT module
* Ferguson: For now BT resides on nav2

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

* https://github.com/ros-planning/navigation2/blob/master/nav2_controller/doc/README.md
* Ferguson: Planner can be cancelled? Two things need to happen:
* Controller can be stopped in the middle of a computation
* The task can be preempted
* Steven: Clarify recovery behaviours
* This is handled by the BT

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





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