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Refactoring #226

Merged
merged 15 commits into from
Nov 8, 2022
Merged

Refactoring #226

merged 15 commits into from
Nov 8, 2022

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lukicdarkoo
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@lukicdarkoo lukicdarkoo commented Sep 2, 2022 •
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  • Upgrade to Humble
  • Optimize navigation performance:
    • Utilize Composable Nodes in Nav2.
    • Reimplement laser_inflator as a costmap layer. The layer should "paint" an extended number of pixels with the setConvexPolygonCost method. Or, maybe simply check whether we can utilize the inflation_layer.
    • Reimplement distance_angle_controller as Nav2 plugins (controller + global planner)
    • Clean up unused Nav2 plugins
    • Remove the map server from Nav2 (and static layer)
  • Optimize hardware interface performance:
    • Investigate where it is possible to utilize Composable Nodes.
    • Reimplement the Dynamixel node as a ros2_control hardware interface (+ controller)
    • Reimplement the pump node as a ros2_control hardware interface (+ controller)
  • Optimize simulation performance:
    • Simplify the simulation so only the base has physics properties (+ passive wheels)
    • Replace custom plugins for Dynamixel and pumps with webots_ros2_control
    • Delete unused plugins
  • Measure startup performance on Raspberry Pi
  • Cleanups:
    • Rename mep3_behavior_tree to mep3_behavior to make it shorter
    • Remove mirroring of everything except poses (everything else should be mirrored in strategies)
    • Delete 2022 BT actions
    • Delete 2022 drivers
    • Delete 2022 simulation elements
    • Refactor the mirroring implementation
    • Simplify launch files
    • Extend Nav2 bt_action_node instead of c/p
    • Remove Delay BT
    • Show less logs by default to console

@lukicdarkoo lukicdarkoo added the enhancement New feature or request label Sep 2, 2022
@lukicdarkoo lukicdarkoo self-assigned this Sep 2, 2022
VladimirVincan
VladimirVincan reviewed Nov 7, 2022
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@lukicdarkoo
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lukicdarkoo commented Nov 8, 2022 •
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Samo bacite pogled, ostatak cemo u narednim PR-ovima

@lukicdarkoo lukicdarkoo marked this pull request as ready for review November 8, 2022 02:02
@filiparag
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Pravda za C++20 😿

@lukicdarkoo lukicdarkoo merged commit dac0e3a into main Nov 8, 2022
@lukicdarkoo lukicdarkoo deleted the refactoring branch November 8, 2022 13:19
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@filiparag filiparag filiparag approved these changes

@VladimirVincan VladimirVincan Awaiting requested review from VladimirVincan

@angstrem98 angstrem98 Awaiting requested review from angstrem98

@MarijaGolubovic MarijaGolubovic Awaiting requested review from MarijaGolubovic

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@lukicdarkoo lukicdarkoo

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@lukicdarkoo @filiparag @VladimirVincan