Closed mikaelarguedas closed 5 years ago
All issues listed in issue description have been addressed.
This PR allows to run the demo with a specific set of permissions for every node.
We could improve the redability of the policies by collapsing action topics/services etc, but it can be done in a follow-up
We could improve the redability of the policies by collapsing action topics/services etc, but it can be done in a follow-up
Please check https://github.com/mikaelarguedas/tb3_demo/pull/3
With this set of policies, it is possible to plan and ececute trajectories with security on
Remaining policy issues to address:
Nodes with wildcards:
/amcl
/dwb_controller
Nodes without policies defined ATM:
/_client_node
/global_localization
Failing nodes in non default cases (robot hitting obstacles, recovery behaviors etc)
e.g. there's a node
/_local_costmap_clear_entirely_local_costmap_Node_<SOME_ID>
that gets created when the robot hits an obstacle and tries to clear the costmap to replanSigned-off-by: Mikael Arguedas mikael.arguedas@gmail.com