---
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: