We want to release a new improved version of topological navigation, that has the following improvements over the current version:
[x] New map format that can handle all these new features (#35 )
[x] Edge actions don't have to be move_basetype anymore (#36 )
[x] Edge actions can be reconfigured depending on the edge definition (#37 )
[x] Define recovery strategy for each edge (for example, how many retries for an action on each edge or wether to replan, execute recovery behaviours or cancel on fail)
[x] Preconditions for edge transitions (for example if the robot has to be at the exact waypoint before triggering the next action)
[x] Backwards compatibility must be guaranteed
[x] Maps can either be hosted in the MongoDB or directly into files (#34 )
[x] Multi-robot capabilities we want the framework to be better prepared for multi-robot systems for example:
[x] Handling Hetereogeneous robots types (i.e. some robots might be able to access routes that others can't but still need to be within the same topological framework) (#33 )
adambinch
commented
2 years ago
We want to release a new improved version of topological navigation, that has the following improvements over the current version:
move_basetype anymore (#36 )