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Refactor #229

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12 tasks
lukicdarkoo opened this issue Nov 8, 2022 · 0 comments
Open
12 tasks

Refactor #229

lukicdarkoo opened this issue Nov 8, 2022 · 0 comments

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@lukicdarkoo
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lukicdarkoo commented Nov 8, 2022 •
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  • Optimize navigation performance:
    • 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
  • Optimize hardware interface performance:
    • Investigate where it is possible to utilize Composable Nodes.
    • Reimplement the pump node as a ros2_control hardware interface (+ controller)
  • Measure startup performance on Raspberry Pi
  • Cleanups:
    • Refactor the mirroring implementation
    • Simplify launch files
    • Remove Delay BT
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