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MROS-RobMoSys-ITP / mros_navigation2

ROS2 Navigation
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List requirements for nav2 nodes according to the MROS requirements (from T5.1, DEADLINE July 31) #16

Open chcorbato opened 4 years ago

chcorbato commented 4 years ago

For example, all requires nodes should be started (activated?) according to the MROS designed mechanism. All params that we consider necessary should be dynamically configurable etc...

jginesclavero commented 4 years ago

Working on it. 

* [ ]  List nav2 nodes and their parameters for Pilot turtlebot that can be subject to runtime reconfiguration in MROS

* [ ]  List all nav2 nodes and their parameters that can be subject to runtime reconfiguration in MROS

I am gathering all required nodes in a requirement list to put it in the GDoc.

* [ ]  Verify that all nav2 nodes implement the reconfiguration interfaces required for MROS pilots

I am reviewing the nav2 nodes, and I have checked that AMCL, costmap_2d, and costmap_2d plugins have a ParameterEvent callback to reread the parameter configuration. I have to test it with the Foxy version to ensure that it works as we expected.

On the other hand, nav2_controller hasn't got a ParameterEvent callback. Instead of this, it uses the on_configure method of the LifeCycleNode to read the parameters.

chcorbato commented 4 years ago

I am reviewing the nav2 nodes, and I have checked that AMCL, costmap_2d, and costmap_2d plugins have a ParameterEvent callback to reread the parameter configuration. I have to test it with the Foxy version to ensure that it works as we expected.

On the other hand, nav2_controller hasn't got a ParameterEvent callback. Instead of this, it uses the on_configure method of the LifeCycleNode to read the parameters.

These are very important findings about the architectural tactics used for reconfiguration, nice work @jginesclavero , please add them in the Gdoc. If I understand it correctly, parameter configuration is dealt with differently in some nav2 nodes: