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Main/99 Work/0 OneSec/OneSecNotes/Excalidraw/Drawing 2023-10-16 13.55.10.excalidraw.md
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2024-12-02 15:11:30 +01:00

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---
excalidraw-plugin: parsed
tags: [excalidraw]
---
==⚠ Switch to EXCALIDRAW VIEW in the MORE OPTIONS menu of this document. ⚠==
# Text Elements
NAV2 - Overview ^JsDombUQ
- Responsible for Launch system only
- pure python
- is used in other modules for easier launch file use
- cmake definition nav2_package(): that does some general configuration that applies to all packages ^f9wBEyOa
NAV2_common ^mggxSBzP
- Defines a lot of behaviors (bt-nodes) if they
inherit from BtActionNode a ROS Action
client is created internally --> thus the
action server needs to be running
- Instead of an Action some nodes create a service client
- implements abstract base classes to combine ROS and the behaviortree_cpp library
- C++ template class for integrating ROS2 actions and services into behavior trees
- navigation-specific behavior tree nodes
- and behaviorTreeEngine class that simplifies integration of BT processing into ROS2 nodes
- provides basic nodes that are used to build more complex trees.
NAV2 Dependencies:
- nav2_common
- nav2_msgs
- nav2_util ^8hnwWxhx
NAV2_behavior_tree ^tf69VvSg
- This uses timed_behavior.hpp and to implement a variety of behaviors (such as Spin, wait, drive_on_heading, etc) as plugins
- Makes an executable called behavior_server that loads those plugins and configures them.
- configuration includes sharing the node pointer, collision_checkers, TF2, etc. and then creating the action_server that is a derivative of SimpleActionServer which finally creates the ros_action_server
Main Jobs:
- inherit from timed_behavior
- implement onRun and onCycleUpdate ^xNoFXd9Y
NAV2_behaviors ^E8VjyZYw
- node: get Node shared pointer
- bt_loop_duration
- server_timeout
- number_recoveries
- error_code
- error_codes
- tf_buffer
- goal
- goals
- updated_goal
- initial_pose_received
- odom_smoother: shared Pointer
- on_cancelled_triggered
- start
- unsmoothed_path
- path
- truncated_path
- selected_controller
- selected_goal_checker
- selected_planner
- selected_smoother
- pose
- goals_blackboard_id
- path_blackboard_id
^0AogytNB
Blackboard ^OAihEFVF
- defines abstract behavior (for the plugin-lib) --> this allows to load plugins dynamically
- implements BehaviorTreeNavigator which is a base class for different navigators such as navigate_to_pose.hpp ^T3TFXKwp
NAV2_core ^kwnDEyDS
- utility functions that are used all over the nav2 library such as:
- lifecycle_node and utils
- odometry_utils: OdomSmoother
- simple_action_server
- node_utils: parameter handling, name handling
- node_thread: abstract the executor and thread logic ^6SHkAk3K
NAV2_util ^o8Xh22PA
%%
# Drawing
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%%
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