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LCAS / topological_navigation

The topological navigation framework
Apache License 2.0
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Development work toward a working ROS2 version #162

Closed Iranaphor closed 8 months ago

Iranaphor commented 9 months ago

I am leaving this PR here for now as a basis for the next stage of development. In this state, everything is working to facilitate a basic system for map management, visualisation, and routing. However, these facilities are working in an hacky state and need to be formalised eventually.

So far, we have utilised topological navigation as a collection of two systems, a robot-side system for navigation and localisation, and a server-side system for map management, restrictions management and fleet routing. However, this server-side system had never been formally defined, being instead developed for utilisation locally on the robot.

We have previously used the server-side capabilities on the server, communicating routes to the robot via mqtt_bridge considering the execute policy mode action as a collection of ROS Topics.

In this branch, I have reformatted the action server as a ROS Topic, so as to decouple this connection to build to a working state, but perhaps it will be better for us to consider an explicit structure for utilisation of a server-side topological map manager.

Iranaphor commented 9 months ago

I also included a topic to the map visualiser to scale the size of markers (as I am running toponav2 for an environment the size of a room, and an environment the size of a city).