Offer integration into a mission control system for application autonomy (e.g. scheduler, task planner, etc)

[SteveMacenski]

trafficstars

Examples:

• A Behavior Tree based system using the NavigateToPose higher level primitive to use the Nav2 stack in an autonomy application (e.g. BT.CPP)
• A state machine based system using wrapped clients to Nav2 (e.g. smach, smacc, etc)
• A sequential based system (e.g. @allenh1 )
• A scheduler

[jwallace42]

This could be really cool! I guess I am thinking of having a high level BT that could have a BT node for nav to pose and then some other stuff like: pick up object, put down object ect.

Then new robots could just add there own action servers for the specialized task and add a BT node and your done!

Is this what you are thinking of or something even higher level?

[SteveMacenski]

Yeah, the higher-level autonomy software, which could be one of a number of things depending on the application. Some examples of what I'm thinking are above including a BT-based solution (as you describe), a sequential task autonomy system (get a bunch of primitives of things to do and do them in order), or a scheduler (given a bunch of options and weights / objective functions, pick what to do next)

[padhupradheep]

@SteveMacenski I understand this will be a bigger project by itself, are we targeting to start with this anytime this year? Or is it for the next year?

[jwallace42]

Next year thing :)

[mikeferguson]

Possibly consider integration with RMF instead of building another fleet planner? I've not used it, but https://github.com/open-rmf has some interesting stuff - such as traffic editor GUIs: https://github.com/open-rmf/rmf_traffic_editor