Part 2 of moving topological navigation packages to …

[Jailander]

… https://github.com/LCAS/topological_navigation

[marc-hanheide]

this is likely not working until we have released topological_navigation packages form the the other repo, so I'll defer this one.

[marc-hanheide]

retest this please

[Jailander]

Oh cool!

[hawesie]

I think I missed Part 1. What’s the plan here?

[Jailander]

Hi Nick, Sorry we should have opened a discussion about this, I am going to be updating topological navigation in the next couple of weeks, the idea is to make it a bit more flexible, improve usability and some code cleanup. To do this we moved some packages to https://github.com/LCAS/topological_navigation

Here is a (non full) list of different things we are trying to add:

• To have the ability to have any type of action connecting the nodes, not only actions that have move_base goal type.
• The parameter set for each action can be defined on the edge(s) as necessary (as long as they can be dynamically reconfigured). This is mainly to remove the messy reconfigure_edges system and have it fully integrated in topological navigation.
• Have a simplified map manager version that runs only from the map file.
• Have the ability to change failure policy on a per node basis. Instead of having one general param for the number of retries, you can define a policy per node, telling it to either retry (for number of times and after a determinate amount of time), re-plan or fail. or a combination of those, for example, retry twice, then re-plan, then fail.
• The topological map will have its own frame, so if an area is remapped from a different origin you only need to change the transformation between the map frame and the topological map frame instead of having to change the whole topological map.
• All these changes should be backwards compatible.

Any suggestion and ideas are welcome!!

[marc-hanheide]

In particular, in terms of released packages nothing is going to changes. This is just moving topo-nav into different repository, to free it of some legacy, and making it easier to manage as a stand-alone repo.

[hawesie]

+1 for stability and long-term strategy!

[marc-hanheide]

and once this is done, I'm happy to move this into official ROS repos, too.

[heuristicus]

Is the plan to have topological rviz tools in the new location as well?