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[WIP] World Model refactor and new features#516

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orduno wants to merge 65 commits intoros-navigation:masterfrom
orduno:379_check_free_space
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[WIP] World Model refactor and new features#516
orduno wants to merge 65 commits intoros-navigation:masterfrom
orduno:379_check_free_space

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@orduno orduno commented Jan 8, 2019 •
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Basic Info

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Ticket(s) this addresses #379
Primary OS tested on Ubuntu 16.04
Robotic platform tested on Gazeobo simulation of turtlebot

Description of contribution

  • Refactored nav2_world_model. Defined an interface for specifying different world representations (WorldRepresentation) and moved current functionality to a CostmapRepresentation.
  • Added service for checking if a region is free of obstacles.
  • Added a RegionVisualizer for displaying regions in RVIZ that get processed by the world model.
  • Defined a World Model client class.
  • Modified the Global Planner Navfn and the Backup motion primitive to use the new world model client interface.
  • Added a new method in the MotionPrimitive class called pathIsClear() that motion primitives can implement for checking if there is enough space for execution.
  • Modified Backup so it checks if there is enough space for backing up before executing.
  • Added a new nav2 service description for specifying a rectangular region.
  • Added a robot_centric_costmap with only the obstacle layer enabled and centered on the robot.

Future work

@orduno orduno added this to the D Turtle Release milestone Jan 8, 2019
@orduno orduno self-assigned this Jan 8, 2019
@orduno orduno requested review from a user, mhpanah, mjeronimo and mkhansenbot January 8, 2019 00:09
This was referenced Jan 8, 2019
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@orduno orduno requested a review from SteveMacenski January 8, 2019 00:15
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ghost commented Jan 8, 2019

@orduno Can you fix the linter failures before we start reviewing?

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ghost commented Jan 9, 2019

@orduno Two things:

  1. Smaller PRs please, or make the commit history clean and show the logically separate changes.
  2. Can you put together a doc or presentation on the problem you are trying to solve, and the design you'd like to see? It seems like it is something that would be helpful to discuss in the working group meeting.

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Comments so far. Still working on it.

@orduno orduno changed the base branch from master to world_model_refactor January 11, 2019 17:41
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orduno commented Jan 12, 2019

@crdelsey

Can you put together a doc or presentation on the problem you are trying to solve, and the design you'd like to see? It seems like it is something that would be helpful to discuss in the working group meeting.

I can put together some slides based on the discussion we had and share it on the working group.

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orduno commented Jan 12, 2019 •
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@crdelsey @SteveMacenski I think I've addressed all your feedback. Comments that have been resolved should be hidden, the ones still showing might require your response.

This PR will get pushed to the world_model_refactor branch. There we can work on addressing #517 before merging to master, this is mainly needed because auto-localization need to check for open space even when the robot is not localized.

If everything looks good please approve so I can proceed with merging.

@orduno orduno force-pushed the 379_check_free_space branch from c1b4c36 to c23710b Compare January 14, 2019 20:10
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@ghost ghost removed this from the D Turtle Release milestone Jan 29, 2019
@ghost ghost removed 2 - Medium Medium Priority nav2_motion_primitives labels Jan 29, 2019
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@orduno orduno force-pushed the 379_check_free_space branch from 54b5094 to b9cfd4d Compare March 6, 2019 20:20
@orduno orduno changed the title [WIP] World Model refactor and new features World Model refactor and new features Mar 6, 2019
@orduno orduno changed the title World Model refactor and new features [WIP] World Model refactor and new features May 9, 2019
@ghost ghost mentioned this pull request May 16, 2019
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orduno commented Jul 11, 2019

Closing the PR as the main features provided have been incorporated (for example, collision checking, odom/robot centric costmap, etc.) we can continue our design discussion on #565.

@orduno orduno closed this Jul 11, 2019
@orduno orduno deleted the 379_check_free_space branch October 1, 2019 17:59
mini-1235 pushed a commit to mini-1235/navigation2 that referenced this pull request Feb 5, 2025
@SteveMacenski
various improvements across docs website (ros-navigation#516)
ecec01a 
* various improvements across docs website

* build issues fix
Forsyth-Creations pushed a commit to Forsyth-Creations/navigation2 that referenced this pull request Feb 19, 2025
@swiz23
fix interpolation logic (ros-navigation#516)
7cc3434 
Co-authored-by: Solomon Wiznitzer <solomon.wiznitzer@resquared.com>
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@SteveMacenski SteveMacenski SteveMacenski requested changes

@mjeronimo mjeronimo Awaiting requested review from mjeronimo

@mkhansenbot mkhansenbot Awaiting requested review from mkhansenbot

@mhpanah mhpanah Awaiting requested review from mhpanah

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