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TODO.md

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ToDo

NAVIGATION

  • move_base_params
  • costmap_common_params
  • global_costmap_params
  • local_costmap_params
  • dwa_local_planner_params

Check performance in move_forward and in case of stuck and back off recover mode

SOFTWARE STACK

  • Control
  • Cartographer
  • Friction of wheels, bot slips
  • Prohibition Layer
    • ROS arg for map_file name
    • Read the .yaml/.json file
    • Include true or false to remove/add the polygon from map
    • Include multi shape filled polygon (Use other method to draw the shape instead of line)
    • Add the polygon to the map file
    • call the service
    • Roslog not working in launch file
  • Store Checkpoints
    • service to clear the yaml file
    • custom srv msg to get checkpoint name
    • service to store the pose
    • sub to odom
    • marker for visualization
    • include in bringup(gazebo) launch file
  • Use Checkpoints
    • Pub all checkpoints in the .yaml file
    • pub to initialpose based to service call by user
  • Battery Plugin
    • Linear model
    • charging dock (if robot at doc increase the voltage)
    • Argument for docking location.
  • Recovery Behavior
    • Wait Recovery
    • Back recovery
      • Blind backoff
  • Why does control loop misses its behavior
  • Nav Goal
    • Sequential goals
      • raw topic pub
      • simple goals
      • threaded simple
      • callback simple
    • State machine
      • switch fsm
        • Get feedback of status from topic
        • while loop inside class?
    • Behavior tree
      • ROS vs BT
      • ROS and BT
      • Example
        • sync no Loop
        • Sync loop
        • Reactive
          • Base Class definition for send move to goal, this class will inherit from StatefulActionNode
          • Sub tree for battery
        • Port and blackboard with same action node.
      • Only go to goal (inherit from ports and blackboard)
  • try other mapping agents
  • Add param with in slam to choose mapping agent
  • Camera Plugin
  • Fused Odometry

DESIGN

  • Base for simulation
  • Arm for simulation

DOCUMENTATION

  • GIFs
    • Gmapping
    • Slamtoolbox
    • Cartographer
    • Navigation in the map
    • Prohibition Layer
    • Dynamic prohibition
    • Store checkpoints
    • Load checkpoint
    • Navigation with PoseArray