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strands-project / strands_movebase

A repository for all the STRANDS-augmented movebase, including 3D obstacle avoidance, etc.
MIT License
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[strands_navfn] is not melodic-ready #73

Closed marc-hanheide closed 4 years ago

marc-hanheide commented 4 years ago

as https://lcas.lincoln.ac.uk/buildfarm/job/Mdev__strands_movebase__ubuntu_bionic_amd64/ shows, strands_navfn refuses to compile for ROS melodic.

The problem is a lot of API changes in move_base: https://github.com/paulbovbel/frontier_exploration/issues/38#issuecomment-449415389

So, question: What does strands_navfn offer that the standard navfn doesn't? Can it be removed?

hawesie commented 4 years ago

Hmm... this wasn't me. Perhaps @nilsbore remembers?

bfalacerda commented 4 years ago

This was me. The functionality it provides is always looking at the default_tolerance parameter before planning. This would allow us to plan to influence areas even if there was an obstacle in the middle. We need it to be dynamically checked before planning because the tolerance for intermediary nodes should be greater than 0 (e.g. 1m) but for target nodes it should be 0.0

Commit below shows the main difference:

https://github.com/strands-project/strands_movebase/commit/cf3b8a3aac4e13221e9227992d56063f97438133

marc-hanheide commented 4 years ago

Thanks @bfalacerda I wonder if this is indeed still needed. It's a bit unfortunate this hasn't been a fork of the original, difficult to merge from upstream in this case, I reckon.

bfalacerda commented 4 years ago

yeah, it wasn't the best way to do it... I'd say ignore this package and if we end up needing it we do the fork and re-do the change, it's easy enough.

I think the only thing that need to be changed to stop using this package is https://github.com/strands-project/strands_movebase/blob/indigo-devel/strands_movebase/strands_movebase_params/move_base_params.yaml#L1

marc-hanheide commented 4 years ago

see #74

marc-hanheide commented 4 years ago

FYI: our melodic release is slowly taking shape... https://github.com/LCAS/rosdistro/wiki/repos-melodic in case @hawesie or @bfalacerda want to update Bob and/or Betty.