mros-robmosys-itp / mros_navigation2 Goto Github PK

I'm trying to get navigation2 running, and I'm almost there but I do not see anything in RVIz when trying the bringup example with turtlebot3

• No messages on Topic map are received
  I think the problem can be related to this WARNING in the terminal where I launched navigation2

[planner_server-5] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-5]          at line 133 in /home/chcorbato/ros2_eloquent/src/ros2/geometry2/tf2/src/buffer_core.cpp

• I have followed the instructions to install ros2 and navigation2 from sources
  • from the previous instructions I have also installed tutlebot3 from sources

Any help is welcome!

Also, if any of you have a running setup of navigation 2 with gazebo, please feel free to share.

Carlos

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:

• 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

• List requirements for nav2 nodes according to the MROS requirements #16
• 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

T5.2 Integration of task-plot -based coordination by implementing a ROS2 Navigation Coordination using behavior-trees models and tools from CARVE and MOOD2BE

• Proposal for the integration of the metacontroller in nav2/bt_coordinator #17
• Apply proposal metacontrol integration on nav2/bt_coordinator for Pilot turtlebot CANCELLED
• Proposal for the integration of the metacontroller with navigation behavior, independently of BTs => final design

(from #3 )
Proposal for the integration of the metacontroller in the nav2 behavior coordination with BTs

Yes. The real question is if we work in master (of navigation) or a stable version.

If we were working in ROS1, I would instead prefer a stable version, but in ROS2, right now, the benefits are more significant in master, I think. So, the release of ROS2 would be the minimum to compile master of navigation2.

F.

El vie., 1 nov. 2019 18:51, Ricardo Sanz [email protected] escribió:
Hi,

Note that support for Eloquent will end on November 2020 but support for Dashing will end on May 2021.

R.

On Thu, Oct 31, 2019 at 9:12 PM Lange Ralph (CR/AEE1) [email protected] wrote:
Yes, packages are already available – but beta only. Release will be on 22nd November.

Mit freundlichen Grüßen / Best regards

Ralph Lange
CR/AEE1

Tel. +49 711 811-27147 | Mobil +49 1525 8813413

From: Francisco Martín Rico [email protected]
Sent: Donnerstag, 31. Oktober 2019 20:42
To: Lange Ralph (CR/AEE1) [email protected]
Cc: G.A. vd. Hoorn - 3ME [email protected]; Carlos Hernandez Corbato - 3ME [email protected]; Nordmann Arne (CR/AEX3) [email protected]; Ricardo Sanz [email protected]; Andrzej Wasowski [email protected]
Subject: Re: MROS - ROS2 Navigation version

Dear colleagues,

We could also work on master, and install ros2 eloquent from packages. I have just checked it out.

Best regards

El jue., 31 oct. 2019 a las 20:11, Francisco Martín Rico ([email protected]) escribió:

Dear all,

First of all, RobMoSys Discourse is working fine for me.

Regarding the navigation2 repo, I am using https://github.com/ros-planning/navigation2.git, but we should decide what branch we will be working on.

• dashing-devel : It should compile with the last version available packaged version (dashing), but right now it is not compiling because some version problems that Davide commented me last week.

• master : We need to compile from sources the last version of ros2 (eloquent) because there are significant changes in the API of some dependencies (tf2_ros at least) not compatible with dashing.

Working in dashing-devel let us work in more stable version but in the current state of navigation2, its functionality could be very reduced. Working in master lets us benefit from more functionality, but sometimes something could be broken. Besides, if we work in master, it is convenient if we want to contribute with our development to navigation2.

IMHO, I would like to work in master. Call me crazy ;P , but it is not a strong position. If you consider the other option, it's fine.

I attach a ros2.repos file with ros2 eloquent master, and with the repos of navigation2 (master) and turtlebot3.

Best,

Francisco

El jue., 31 oct. 2019 a las 19:40, Lange Ralph (CR/AEE1) ([email protected]) escribió:

Hello Carlos,

we're also using https://github.com/ros-planning/navigation2.
ROS Discourse or mailing list are both fine for me.

Best regards

Ralph

Mit freundlichen Grüßen / Best regards

Dr. Ralph Lange

SW Systems Engineering (CR/AEE1)
Robert Bosch GmbH | Renningen | 70465 Stuttgart | GERMANY | www.bosch.com
Tel. +49 711 811-27147 | Mobil +49 1525 8813413 | [email protected]

Sitz: Stuttgart, Registergericht: Amtsgericht Stuttgart, HRB 14000;
Aufsichtsratsvorsitzender: Franz Fehrenbach; Geschäftsführung: Dr. Volkmar Denner,
Prof. Dr. Stefan Asenkerschbaumer, Dr. Michael Bolle, Dr. Christian Fischer, Dr. Stefan Hartung,
Dr. Markus Heyn, Dr. Dirk Hoheisel, Christoph Kübel, Rolf Najork, Uwe Raschke, Peter Tyroller

-----Original Message-----
From: G.A. vd. Hoorn - 3ME [email protected]
Sent: Donnerstag, 31. Oktober 2019 14:44
To: Carlos Hernandez Corbato - 3ME [email protected]; Francisco Martín Rico [email protected]; Lange Ralph (CR/AEE1) [email protected]; Nordmann Arne (CR/AEX3) [email protected]
Cc: Ricardo Sanz [email protected]; Andrzej Wasowski [email protected]
Subject: Re: MROS - ROS2 Navigation version

On 10/31/19 11:45 AM, Carlos Hernandez Corbato - 3ME wrote:

Hi Gijs, Francisco, Ralph and Arne,

Could you please let us know which repository for ROS2 Navigation are
you using (if any), and which one do you think we should use in MROS?

See [1] for the main navigation2 repository.

PS is anyone getting the messages from RobMoSys Discourse? I can setup
a mailing list if we prefer that for project communication

I haven't yet registered.

Mailinglist would be ok for me as well, as we would have total control and it would be more private (I imagine).

Gijs

[1] https://github.com/ros-planning/navigation2

For example, all requires nodes should be started (activated?) according to the MROS designed mechanism.
All params that we consider necessary should be dynamically configurable
etc...

• List nav2 nodes and their parameters for Pilot turtlebot that can be subject to runtime reconfiguration in MROS

• List all nav2 nodes and their parameters that can be subject to runtime reconfiguration in MROS

• Verify that all nav2 nodes implement the reconfiguration interfaces required for MROS pilots