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ros-navigation
Localization Framework Initial PR
Basic Info
| Info | Please fill out this column |
|---|---|
| Ticket(s) this addresses | (add tickets here #1) |
| Primary OS tested on | (Ubuntu, MacOS, Windows) |
| Robotic platform tested on | (Steve's Robot, gazebo simulation of Tally, hardware turtlebot) |
Description of contribution in a few bullet points
Description of documentation updates required from your changes
Future work that may be required in bullet points
@khaled-98 a really good next step - but I think to fully clear this up, I think you need to implement the solver's "solve" function so that you can see all the interactions you're baking into it. I think with that in place, you could see where it might be possible to separate them as much as possible.
Note for later: OpenMP/SIMD might be helpful for this work since we're updating a particle filter and each one is independent. It's an idea target for parallelism along with DWB and costmap layer updates
@khaled-98 @SteveMacenski assuming this is on hold, is there a design document or a roadmap tracking what the framework should look like? Or is that a work in progress?
@SteveMacenski @khaled-98 is it all in the Nav2_Localization_Design.pdf document? I overlooked it the first time.
Apologies for the delay in responding. Yes that is indeed the design document. This has been on hold for a while but I have started to work on it again over the last few weeks, so there should be some updates soon
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@khaled-98, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @ndt_mcl, but it must be in main
to have these changes reflected into new distributions.
@khaled-98, please properly fill in PR template in the future. @stevemacenski, use this instead.
- [ ] Check that any new parameters added are updated in navigation.ros.org
- [ ] Check that any significant change is added to the migration guide
- [ ] Check that any new functions have Doxygen added
- [ ] Check that any new features have test coverage
- [ ] Check that any new plugins is added to the plugins page
- [ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists