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License: The Unlicense

Shell 0.03% Dockerfile 3.40% CMake 2.69% Python 91.15% C++ 2.73%

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c3pzero's Issues

Establish package structure

bring_up
navigation
simulation
base_config
site_config
upstream.repos

note: navigation dir only has config. Nav2 will be built from source and installed in /opt/upstream

write launch file for system logic(for lack of a better name)

Launch Nav2 and Studio

static map should be defined for robot nav

Robot needs to navigate around obstacles

When Home command sent, current robot behavior should fail if in progress

Add Nav2 as dependency

Align Nav2 Config with cp3zero config

Investigate robot footprint/kinematic model for c3pzero in nav2
Investigate costmap tuning parameters

Establish an empty/base gazebo world

Behavior should to read yaml that contains goal locations

Robot should publish ready state

Maybe use Nav2's BehaviorTreeStatusChange message

Create dev container

Write launch file for simulation

On Go To Pose failure, Robot should attempt go to Home

expand gazebo world by adding obstacles

Starting the development container fails

The docker image builds successfully but starting the development container fails. Any idea?

export UIDGID=$(id -u):$(id -g); docker compose -f compose.dev.yml run development --> bash: line 1: /opt/internal/install/setup.sh: No such file or directory

Gazebo should publish laser scan messages

[SPIKE] Hardware Feasibility Study

Goal: See if cp3zero hardware integrates seamlessly, or with minimal tinkering.

Send goal coordinates through MoveIt Studio to Nav 2

Use Case

Acceptance Criteria

Note

The UI requirement was removed from this ticket.
https://github.com/PickNikRobotics/moveit_studio/blob/main/moveit_studio_behavior/scripts/call_do_objective.py as an example

Behavior should navigate to goal locations sequentially, successfully, in a loop

Get linter working in container

Create site config based on MoveIt Studio tutorial

Bringup launch file should launch simulation and nav2

Single launch file that launches Simulation World -> Simulation Robot -> Navigation

Add ROS Gazebo Bridge as source dependency

Including ros_gazebo_bridge

Galactic branch of ROS Gazebo Bridge: https://github.com/gazebosim/ros_gz
tag 0.244.3
export IGNITION_VERSION=fortress to install rosdeps

Create Navigation config using Nav2 tutorial

Robot should wait to be commanded to next goal

Port cp3zero simulation

Definition of done: Send in a twist, navigate environment, and receive odom topic and ground true TF