Introduce nav2 traffic for next gen#19
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Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
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Would it make sense to put the spatio-temporal layer in this repo as well so we reduce dependencies on external repos? |
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@arjo129 Sounds good, should we do it in a separate PR for ease of review or pile it on this one? |
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IMO I think we can pile it into this. We could have a general folder called "nav2 integration". |
Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
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Note: Requires additional manual steps for e2e testing as Destination Server is not available on this or the base branch yet
nav2_traffic_demo_10x_final.mp4
Based on the traffic management interfaces described here, the Nav2 traffic plugin is meant to utilize Next Gen RMF's prototype interfaces to facilitate robot planning and navigation. Combined with the spatio temporal partitioning layer work that Arjo has done (which introduces safe zones), this PR aims to provide and demonstrate a simple Nav2 traffic integration with Next Gen RMF.
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