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Navigation 2 Roadmap #592

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crdelsey opened this Issue Mar 4, 2019 · 0 comments

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crdelsey commented Mar 4, 2019

This is a quick summary of major changes and additions we'd like to make to the navigation 2 codebase in rough priority order. This represents current plans but not commitments.

Major Features

Dashing

  • Run the Nav2 stack on a real robot (Turtlebot 3)
  • Add lifecycle support (mjeronimo)
    • Change Nav 2 nodes to lifecycle nodes and manage them (mjeronimo) #583
    • Push needed ROS2 lifecycle node changes upstream (mjeronimo) #608
    • In BtNavigator, move creation of BT to configure state (mjeronimo) #611
  • Transition from nav2 tasks to ROS2 actions (mjeronimo) #541
  • Remove dynamic parameters (mjeronimo) #609
  • Make robot motion reliable
    • Finish up and refine recovery actions
    • Test obstacle layer
    • Tune controllers for Turtlebot 3
    • Fix bugs
  • Documentation improvements
  • Test dynamic obstacle handling
  • Test voxel layer
  • Run the nav2 stack on an additional robot
  • Improve testing
    • Improve AMCL test
    • Stabilize nav2_system_test
    • Develop method to compare algorithm performance
    • Compare Nav 2 results vs ROS 1 results

Future

  • Create real world use cases in Gazebo
  • Develop new world model and costmap representation
  • Support multiple robots simultaneously
  • Multi-robot orchestration
  • Support alternate motion models
    • Holonomic robots
    • Ackermann robots
  • Update core algorithms and provide guidelines
  • Map server enhancements
  • Outdoor navigation
  • Zone support
  • Real-time deadline monitoring
  • Add test capability to enhance interaction with gazebo
    • Update model and world state
    • Dynamically alter world
  • Support for maps with elevation, such as ramps
  • Support for use cases with elevators
  • Optimize Auto Localization

@crdelsey crdelsey pinned this issue Mar 4, 2019

@crdelsey crdelsey added this to Medium Priority Issues in Navigation 2 Kanban Mar 18, 2019

@crdelsey crdelsey moved this from Medium Priority Issues to High Priority Issues in Navigation 2 Kanban Mar 18, 2019

@crdelsey crdelsey removed this from High Priority Issues in Navigation 2 Kanban Mar 18, 2019

@crdelsey crdelsey added this to Incoming Issues in Navigation 2 Kanban Mar 25, 2019

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