Refactored hector_navigation.launch and its corresponding sub-launch/nodes and parameter files that are directly related to the Navigation stack (this means mostly move_base node and its corresponding rosparam files).
Is this fixing an issue?
No
Are there more details that are relevant?
One of the most important changes here was the standardization of our coordinate frames used based on the standards set in REP 105. For our system, the base_link, odom, and map frames refer to the frame corresponding to the robot's COM, the fixed-world frame corresponding to pose estimate of the kart given odometry information (local estimate), and the fixed-world frame corresponding to the pose estimate of the kart from the SLAM system (global estimate), respectively. laserscan_matcher_node_odom publishes the odom->base_link transform and hector_mapping publishes the map->odom transform. Please see REP 105 and the tf documentation to better understand why this change is crucial for our system.
While many configuration changes were made (based on guidance/info in the resources provided below), there were many physical/sensor related params that I did not know/did not want to have to determine right now. So Issue #8 was opened as a result and TODOs were added above each param that I think needs to be updated once it is time to test with the environment rosbags.
What is a quick description of the change?
Refactored
hector_navigation.launchand its corresponding sub-launch/nodes and parameter files that are directly related to the Navigation stack (this means mostly move_base node and its corresponding rosparam files).Is this fixing an issue?
No
Are there more details that are relevant?
One of the most important changes here was the standardization of our coordinate frames used based on the standards set in REP 105. For our system, the base_link, odom, and map frames refer to the frame corresponding to the robot's COM, the fixed-world frame corresponding to pose estimate of the kart given odometry information (local estimate), and the fixed-world frame corresponding to the pose estimate of the kart from the SLAM system (global estimate), respectively. laserscan_matcher_node_odom publishes the odom->base_link transform and hector_mapping publishes the map->odom transform. Please see REP 105 and the tf documentation to better understand why this change is crucial for our system.
While many configuration changes were made (based on guidance/info in the resources provided below), there were many physical/sensor related params that I did not know/did not want to have to determine right now. So Issue #8 was opened as a result and TODOs were added above each param that I think needs to be updated once it is time to test with the environment rosbags.
Check lists (check x in [ ] of list items)
No testing needed for launch file development.
Any additional comments?
Resources Used to Inform these Changes: