Comments (5)
mkhansenbot
commented on May 13, 2024
As part of this work, the existing costmap placeholder code should either be removed or replaced.
src/libs/nav2_util/src/costmap.cpp
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bpwilcox
commented on May 13, 2024
We can port in smaller chunks from the existing ROS1 costmap_2d code in #86
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SteveMacenski
commented on May 13, 2024
As part of this work, it might be good to keep in the back of your mind how you'd want to remove having 2 costmaps (one for controller another for planner) as that duplication of work accounts for a good amount of resource usage when using plugins for the 3D world.
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mjeronimo
commented on May 13, 2024
@SteveMacenski Yes, definitely. We plan to factor out the duplication, were possible.
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mkhansenbot
commented on May 13, 2024
Still need to port voxel layer (#193) and obstacle layer (#192), those are covered in their own issues, so closing this issue.
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Related Issues (20)
- Controller keeps publishing command velocities after it reaches goal pose HOT 7
- In `bt_service_node.hpp`, `bt_loop_duration` is not in the ProvidedPorts list HOT 3
- Planner Benchmark not working due to condition in if clause HOT 1
- Bug in smoothPath Function of Simple Commander API on Humble Branch HOT 2
- Simple commander build issue HOT 2
- BT XML Idea: Stop replanning when near the goal if path is valid HOT 3
- BT "node" port remapping does not work with subtrees HOT 15
- User misconfiguration of parameters may cause instantaneous crashs HOT 3
- Create arc-shaped path HOT 3
- Nav2 with other programming languages HOT 1
- nav2_mppi_controller colcon build error HOT 3
- Using composition doesn't load costmap parameters from yaml file HOT 12
- Way to do 2.5D navigation HOT 1
- The response to action cancellation is delayed. HOT 1
- set size_x_ and size_y_ in method initMaps HOT 4
- [humble binary] BT: „missing port [value]” for blackboard “{goal}” HOT 5
- DriveOnHeading in SimpleCommander HOT 1
- Add DCO requirements + bot to tell people how to fix if not used HOT 1
- SimpleActionServer may call `nullprt` callback when executing the transition to deactivate HOT 3
- navigation not working HOT 7
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