Open jihoonl opened 10 years ago
Just started reading about those two packages as well and find the naming confusing. The current manager doesn't seem to do much managing - just storage and visualisation.
Also, the feature of storing of waypoints seems to be duplicated in both the manager and navigator.
Questions:
yocs_waypoint_manager
to yocs_waypoint_visualizer
?After discussing this matter and the broader picture with @jihoonl, we decided to move forward with the following.
yocs_waypoint_manager
to yocs_waypoint_provider
yocs_waypoints_navi
to yocs_waypoint_provider
yocs_msgs
, which consits of a name and a list of waypointsyocs_waypoints_navi
listen to waypoint and trajectory messagesAnd later as part of a bigger re-design effort of the navigation-related yocs tools, we will think about merging yocs_waypoints_navi
and yocs_navigator
developed for the waiterbot.
@jihoonl and I sat down to discuss the next step in this redesign. Here are the TODOs:
yocs_waypoint_navi
into yocs_navigator
yocs_waypoint_provider
with the navigator, therefore replacing yocs_msgs/Table
input with Trajectories
and Waypoints
inputyocs_msgs/Approach
to allow specifying how a specific waypoint should be approachedyocs_msgs/NavigateTo.action
replace command
with approach
array allowing to specify DEFAULT
, ON
, NEAR
,FAR
approach setting either for each waypoint (# approaches = # waypoints) or for one setting for all (# approaches == 1)yocs_waypoint_provider
(long-term goal)Jihoon, did I forget anything?
I DOWNLOAD the package(yocs_waypoints_navi),but i don't know how to use it . could u help me solve the problem?
We don't actually use/support this package any longer as we have since moved to another solution. Consider it deprecated, but feel free to pick it up and use it yourself.
Hi, can i ask to which solution you've moved ? I tried to run navi node and provider with move_base but the first goal is never published in the move_base/goal topic ...
We've been using behaviour trees for quite some time. They're far more flexible and let you stitch complicated chains of behaviour together to do your waypoint style navigation with as much variety as you please.
We just open sourced the behaviour trees, but it's not yet all documented/ready for a release. Certainly usable though and you can play around with what is there. The scenarios which do the waypoints however are closed.
Instead of standalone package which parses waypoints from yaml and request move_base to navigate around, redesign it to utilise yocs_waypoint_manager to parse waypoints from yaml, and only controls move_base.