45 lines
1.5 KiB
Markdown
45 lines
1.5 KiB
Markdown
---
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tags:
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- daily
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date: 2023-10-18
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---
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## Tasks
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- [ ] Write node that generates Odometry message and topic for the odometry_utils smoother.
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- [ ] implement tasks in vscode to run tests efficiently
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- [ ] Maybe implement a devcontainer? --> how would you do that with credentials?
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- [ ] write obsidian articles about pointers: inspiration here: https://iamsorush.com/posts/weak-pointer-cpp/
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- [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.
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- [x] then implement the nav3_core/include/nav3_core/behavior.hpp
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- [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
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## Quick Notes
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NAV3 is our custom implementation of [[ROS2 - NAV2 Library]]
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### Missing for NAV3
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- nav3_bringup: a entry point to run the correct packages etc.
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- nav3_planner (base impl)
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- nav3_controller
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- nav3_lifecycle_manager
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- nav3_smoother (just immediately return the same path)
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- nav3_bt_navigator
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- nav3_waypoint_follower
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later:
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- nav3_voxel_grid
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- nav3_costmap_3d
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- nav3_rviz_plugins
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- nav3_collision_monitor
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- nav3_map_server
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- nav3_simple_commander
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- nav3_system_tests
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- navigation3: parent_package
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- tools
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## Learnings
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Caloric intake
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- 80 ml milk x2 --> 1.8 * 64kcal = 115.2kcal
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- indian food: 1.5 Naan (300kcal) + vegetable curry (est. 700 kcal)
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- 1 row chocolate
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- apple
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- joghurt: 213 kcal
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- raclette: |