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Add Support for GridMap in Map_Server #191

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bpwilcox opened this issue Oct 18, 2018 · 6 comments
Closed

Add Support for GridMap in Map_Server #191

bpwilcox opened this issue Oct 18, 2018 · 6 comments
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3 - Low Low Priority enhancement New feature or request nav2_map_server
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Navigation 2 Kanban

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@bpwilcox
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To at the least demonstrate our extensible framework in the nav2_map_server, we should support grid_map. An implementation of grid_map type maps would implement the interface in the BaseMapServer abstract class. Future consideration will be given to how clients of the map_server can potentially use a different map type. This is likely a discussion for the world model concept. #18
@mkhansenbot mkhansenbot added the enhancement New feature or request label Oct 18, 2018
@mkhansenbot mkhansenbot added the 3 - Low Low Priority label Nov 12, 2018
@mkhansenbot mkhansenbot assigned bpwilcox and unassigned bpwilcox Nov 12, 2018
@mkhansenbot mkhansenbot added this to To do in Navigation 2 Kanban via automation Nov 12, 2018
@mkhansenbot mkhansenbot added this to the D Turtle Release milestone Dec 3, 2018
@crdelsey crdelsey moved this from Incoming Issues to Other Issues in Navigation 2 Kanban Jan 22, 2019
@crdelsey crdelsey moved this from Medium Priority Issues to Low Priority Issues in Navigation 2 Kanban Jan 28, 2019
@crdelsey crdelsey removed this from the D Turtle Release milestone Jan 29, 2019
@crdelsey
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crdelsey commented Jul 1, 2019

This might come back when we deal with outdoor navigation or ramps

@crdelsey crdelsey closed this as completed Jul 1, 2019
Navigation 2 Kanban automation moved this from Low Priority Issues to Done Jul 1, 2019
@SteveMacenski
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Side note: completely nuking costmap_2d is in my queue in the next year to do and replace with grid_maps. Why maintain a 10 year old technology when we could let the nice folks at Zurich do it, and they have alot of nice stuff like iterators that are objectively superior

@crdelsey
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@SteveMacenski

completely nuking costmap_2d is in my queue in the next year to do and replace with grid_maps

Just FYI. @DLu has also completely redone costmap in his repo. That's another alternative to consider.

@SteveMacenski
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Their costmap version is kind of a mid-way between ETH-Zurich's and the existing costmap_2d, I'll have to chat with him to see if there's something additional gained but tentatively my understanding is that grid_maps is more powerful given that we know its being used to represent both costs, gradients and traversibility maps (which was one of the design goals of navigation2). I think his work could be transitioned over to it but there's just an overwhelming amount of work done for us in grid_maps

ghost pushed a commit to logivations/navigation2 that referenced this issue Mar 7, 2022
@sofiasemianchuk
AMRFM-1147 Create BT node to set parameters (ros-navigation#191)
091ea02 
* AMRFM-1147 Create BT node to set parameters

* AMRFM-1147 Create BT node to set parameters -> fixed set_node_parameters.cpp and fixed forklift_params.yaml;

* AMRFM-1147 Create BT node to set parameters -> reverted navigate_with_replanning_v2.xml;

* AMRFM-1147 Create BT node to set parameters -> modified set_node_parameters.cpp;

* AMRFM-1147 Create BT node to set parameters -> added tests, fixed set_node_parameters.cpp;

* AMRFM-1147 Create BT node to set parameters -> added new test into CMakeLists.txt;

* AMRFM-1147 Create BT node to set parameters -> added service_name into nav2_tree_nodes.xml and added using ParameterType message;

* AMRFM-1147 Create BT node to set parameters -> added tests;
@justin-maidbot
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Based on the conversation in this thread + #565 + #1173, as well as going through some of the source code, it looks like nav2 map server and planners have costmaps hardcoded into the framework for now? Since these issues are a couple years old at this point, I was just curious if there's been any further work on integrating ANYbotics's GridMap into nav2 (https://github.com/ANYbotics/grid_map)?

@SteveMacenski
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None currently, its a future project but hasn't been executed on yet

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@mkhansenbot @SteveMacenski @bpwilcox @crdelsey @justin-maidbot