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99 Work/0 OneSec/OneSecNotes/00 Daily/2023-10-18.md

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+---
+tags:
+  - daily
+date: 2023-10-18
+---
+## Tasks
+- [ ] Write node that generates Odometry message and topic for the odometry_utils smoother.
+- [ ] implement tasks in vscode to run tests efficiently 
+- [ ] Maybe implement a devcontainer? --> how would you do that with credentials?
+- [ ] write obsidian articles about pointers: inspiration here: https://iamsorush.com/posts/weak-pointer-cpp/
+- [x] Implement a placeholder class for Costmap, that has the main functions, but always returns collisionfree if asked about collision, etc. --> we will populate it later on.
+- [x] then implement the nav3_core/include/nav3_core/behavior.hpp
+- [x] then implement the nav3_behaviors package: mostly the timed_behavior.hpp and behavior_server.hpp, but also a single behavior as example: wait.hpp
+## Quick Notes
+
+NAV3 is our custom implementation of [[ROS2 - NAV2 Library]]
+### Missing for NAV3
+- nav3_bringup: a entry point to run the correct packages etc.
+- nav3_planner (base impl)
+- nav3_controller
+- nav3_lifecycle_manager
+- nav3_smoother (just immediately return the same path)
+- nav3_bt_navigator
+- nav3_waypoint_follower
+
+later:
+- nav3_voxel_grid
+- nav3_costmap_3d
+- nav3_rviz_plugins
+- nav3_collision_monitor
+- nav3_map_server
+- nav3_simple_commander
+- nav3_system_tests
+- navigation3: parent_package
+- tools
+## Learnings
+
+
+Caloric intake
+- 80 ml milk x2 --> 1.8 * 64kcal = 115.2kcal
+- indian food: 1.5 Naan (300kcal) + vegetable curry (est. 700 kcal)
+- 1 row chocolate
+- apple
+- joghurt: 213 kcal
+- raclette: