Map manager service /topological_map_manager2/add_datum (type topological_navigation_msgs.srv.AddDatum) for adding GNSS latitude/longitude to the topological map's top-level meta info.
Service /topological_map_manager2/update_edge replaces /topological_map_manager2/update_edge_action
setting the same args with an additional boolean arg for setting whether navigation is fluid or not.
Uses srv type topological_navigation_msgs.srv.UpdateEdge
Can now pass properties of the edge's origin node to its goal args in the topological map using +
(similar to passing properties of the edge's destination node using $)
Fixed issue that prevented service /topological_map_manager2/update_node_name from correctly updating edges.
Some optimisation of the navigation script.
Added launch file for running the restrictions manager for a multi robot scenario.
/topological_map_manager2/add_datum(typetopological_navigation_msgs.srv.AddDatum) for adding GNSS latitude/longitude to the topological map's top-level meta info./topological_map_manager2/update_edgereplaces/topological_map_manager2/update_edge_actionsetting the same args with an additional boolean arg for setting whether navigation is fluid or not. Uses srv typetopological_navigation_msgs.srv.UpdateEdge+(similar to passing properties of the edge's destination node using$)/topological_map_manager2/update_node_namefrom correctly updating edges.