tangobot
tangobot copied to clipboard
ekumenlabs
Node configuration
Many nodes of the Nav Stack (mainly move_base, but also others like robot state publishers with its descriptions) require to have access to several configuration parameters. In Linux, this problem is addressed using launchfiles, which are not available in Android environments. Then, some other way of configuring nodes has to be implemented in Android to solve this problem.
One possible option is to create a node that reads configuration files and updates the parameter server, emulating launchfiles. Another option is to configure the nodes by using code directly (perhaps faster to implement, but less flexible).
@jubeira in the past we had written some code to read a yaml file and upload it to the parameter server. I don't know where that ended up but it wasn't very complicated. IIRC we would store the configuration in a yaml file in the application resource directory as a raw resource.
@adamantivm I think you mean the library mentioned in #21. This is certainly a good candidate to solve this problem, I will look into it soon.
UPDATE: SnakeYaml library was added as a RosJava node in #24 . Node configuration shall be done using this tool.
Update: with #31, the local and global costmap common parameters are configured as in the Turtlebot example. Planners and navcore parameters pending.
Update: #40 adds the default navstack configuration for a turtlebot. See #43; this configuration with the current libraries used according to roscpp_android doesn't archive the exact same behavior on Linux / Android.