T5.1 Adaptation of ROS2 Navigation to MROS architecture

[chcorbato]

T5.1 Adaptation of ROS2 Navigation to MROS architecture, applying the RobMoSys approach and the RobMoSys Flexible Navigation architectural pattern.

ACTIONS:

• [ ] Create issues for the actions below that we have agreed

• [ ] List improvements of nav2 needed for MROS pilots (related to #15)

Create Pilot turtlebot models:

• [x] Pilot turtlebot system modes .yaml
• [ ] Pilot turtlebot .owl

Create MROS models for nav2 and how to use them, based on the Pilot turtlebot models

• [ ] Create reusable models of nav2 for MROS systems
• [ ] Create guidelines to use the MROS models of nav2 in navigation applications

Adapt nav2 nodes to MROS

• [x] List requirements for nav2 nodes according to the MROS requirements #16
• [x] Verify that all nav2 nodes implement the reconfiguration interfaces required for MROS pilots
• [ ] Adapt those nodes in nav2 that require so to comply with MROS requirements