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

tags, date

tags	date
daily	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/
• 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.
• then implement the nav3_core/include/nav3_core/behavior.hpp
• 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: