From 19a298cad53aec7ffa44a72508adbb311e4b0b70 Mon Sep 17 00:00:00 2001 From: Matthias Holoch Date: Wed, 16 Oct 2024 11:10:45 +0200 Subject: [PATCH 01/10] add badge for ros1 CI --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 3420f15c..d656a71d 100644 --- a/README.md +++ b/README.md @@ -37,3 +37,4 @@ But, of course you are welcome to propose new fancy features and help make them | ROS Distro | GitHub CI | Develop | Documentation | Source Deb | Binary Deb | |-------------|-----------|---------|---------------|------------|------------| | **Humble** | TODO | TODO | TODO | TODO | TODO | +| **Noetic** | [![Noetic CI](https://github.com/nature_robots/move_base_flex/workflows/Noetic%20CI/badge.svg)](https://github.com/nature_robots/move_base_flex/actions?query=workflow%3A%22Noetic+CI%22) | [![Build Dev Status](http://build.ros.org/buildStatus/icon?job=Ndev__move_base_flex__ubuntu_focal_amd64)](http://build.ros.org/job/Ndev__move_base_flex__ubuntu_focal_amd64) | [![Build Doc Status](http://build.ros.org/buildStatus/icon?job=Ndoc__move_base_flex__ubuntu_focal_amd64)](http://build.ros.org/job/Ndoc__move_base_flex__ubuntu_focal_amd64) | [![Build Src Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__move_base_flex__ubuntu_focal__source)](http://build.ros.org/job/Nsrc_uF__move_base_flex__ubuntu_focal__source) | [![Build Bin Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__move_base_flex__ubuntu_focal_amd64__binary)](http://build.ros.org/job/Nbin_uF64__move_base_flex__ubuntu_focal_amd64__binary) | From 3a3c2111508960ca4d166acfc5d4c13bedb87d94 Mon Sep 17 00:00:00 2001 From: Matthias Holoch Date: Wed, 16 Oct 2024 11:11:36 +0200 Subject: [PATCH 02/10] fix: update link to moved repository --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index d656a71d..001d22d9 100644 --- a/README.md +++ b/README.md @@ -28,7 +28,7 @@ MBF is an ongoing project. Some of the improvements that we have planned for the * Add Ackermann steering API * Multi Goal API + Action * Add new navigation server and core packages using [grid_map](https://wiki.ros.org/grid_map). -* Constraints-based goal (see issue https://github.com/magazino/move_base_flex/issues/8) +* Constraints-based goal (see issue https://github.com/nature_robots/move_base_flex/issues/8) But, of course you are welcome to propose new fancy features and help make them a reality! Pull Requests are always welcome! From a565550529dbcf3affb87721106433698e88f17b Mon Sep 17 00:00:00 2001 From: Matthias Holoch Date: Wed, 16 Oct 2024 11:13:31 +0200 Subject: [PATCH 03/10] add humble CI badge --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 001d22d9..2879b4c3 100644 --- a/README.md +++ b/README.md @@ -36,5 +36,5 @@ But, of course you are welcome to propose new fancy features and help make them | ROS Distro | GitHub CI | Develop | Documentation | Source Deb | Binary Deb | |-------------|-----------|---------|---------------|------------|------------| -| **Humble** | TODO | TODO | TODO | TODO | TODO | +| **Humble** | [![Humble CI](https://github.com/naturerobots/move_base_flex/actions/workflows/humble.yaml/badge.svg?branch=humble)](https://github.com/naturerobots/move_base_flex/actions/workflows/humble.yaml) | TODO | TODO | TODO | TODO | | **Noetic** | [![Noetic CI](https://github.com/nature_robots/move_base_flex/workflows/Noetic%20CI/badge.svg)](https://github.com/nature_robots/move_base_flex/actions?query=workflow%3A%22Noetic+CI%22) | [![Build Dev Status](http://build.ros.org/buildStatus/icon?job=Ndev__move_base_flex__ubuntu_focal_amd64)](http://build.ros.org/job/Ndev__move_base_flex__ubuntu_focal_amd64) | [![Build Doc Status](http://build.ros.org/buildStatus/icon?job=Ndoc__move_base_flex__ubuntu_focal_amd64)](http://build.ros.org/job/Ndoc__move_base_flex__ubuntu_focal_amd64) | [![Build Src Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__move_base_flex__ubuntu_focal__source)](http://build.ros.org/job/Nsrc_uF__move_base_flex__ubuntu_focal__source) | [![Build Bin Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__move_base_flex__ubuntu_focal_amd64__binary)](http://build.ros.org/job/Nbin_uF64__move_base_flex__ubuntu_focal_amd64__binary) | From a1f3e0e5ef3141411a4ae692c167264dd60614b5 Mon Sep 17 00:00:00 2001 From: Matthias Holoch Date: Wed, 16 Oct 2024 11:29:03 +0200 Subject: [PATCH 04/10] fix links to ROS1 version branches --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 2879b4c3..22e60e82 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -This is the active ROS2 branch of this repository. If your are looking for the ROS1 version, checkout the [noetic branch](https://github.com/naturerobots/move_base_flex/tree/noetic). +This is the active ROS2 branch of this repository. If your are looking for the ROS1 version, checkout the [noetic](https://github.com/naturerobots/move_base_flex/tree/noetic) or [master](https://github.com/naturerobots/move_base_flex/tree/master) branches. # Move Base Flex: A Highly Flexible Navigation Framework: From 5f34459fc3fd0131f203f9611411ce39b372b6ce Mon Sep 17 00:00:00 2001 From: Matthias Holoch Date: Wed, 16 Oct 2024 11:55:05 +0200 Subject: [PATCH 05/10] add credit section to readme --- README.md | 5 +++++ doc/images/logos/magazino_icon.png | Bin 0 -> 9624 bytes doc/images/logos/nature_robots_icon.jpg | Bin 0 -> 3735 bytes 3 files changed, 5 insertions(+) create mode 100644 doc/images/logos/magazino_icon.png create mode 100644 doc/images/logos/nature_robots_icon.jpg diff --git a/README.md b/README.md index 22e60e82..5f40a69f 100644 --- a/README.md +++ b/README.md @@ -32,6 +32,11 @@ MBF is an ongoing project. Some of the improvements that we have planned for the But, of course you are welcome to propose new fancy features and help make them a reality! Pull Requests are always welcome! +## Credit +Move Base Flex was initially developed at Magazino ![Magazino Icon](doc/images/logos/magazino_icon.png). +The latest version (ROS2) is developed at maintained by Nature Robots ![Nature Robots Icon](doc/images/logos/nature_robots_icon.jpg). + + ## Build Status | ROS Distro | GitHub CI | Develop | Documentation | Source Deb | Binary Deb | diff --git a/doc/images/logos/magazino_icon.png b/doc/images/logos/magazino_icon.png new file mode 100644 index 0000000000000000000000000000000000000000..fcfac3b4796b55598cd364ed96b1c2b8b8bbc508 GIT binary patch literal 9624 zcmbt)cQ}=Q_`h|mWA9||I9b`0S!9PeR`}R^hsc(MA|pabR@SjXHYKttduL`-qKx0| z`~CZOUBB!4ovR+Ma~{umKll5-U$58wx}O+bZB{_4jegT zqr=@ZZ!uOP>)|+WGi&gQL$|yY*Z-?=qOXl(4XQBZ4*rt6l!S7kSXuK zvDCh$De5(?c^l5bp?6!6l9&&NZf4RzLD$gOX1+5uYF;}1aPbShlA7J!@V+19It+F@ zkGbWtW*YwZW(&=%uk+y}5N?sj%vfJv5%HsFR1~73!U>Box)j*7bi^Dv9ZHIL257#g zp~Of8rLI*j8_xgpNp1VGp;rcnhA2|h^G7#mh;2_jQFIzyR3Z#<_4QI@lAE{IjQ>25 zj%>H|@$nIpkoa)Unw6DhZf*|8n>TNsot-^?{5T>a0)EM?dGh(c{CDpN@xtG|<4ROZ zPEF-W>Z#I9PEKB4S-Edukerfo`}Xa`5PLbCShs?lVTa$pf3wO5mzI~8mz9;3l$2Cd zxH~y9Ub(X9$@T2nGw;>Ddqzg%-@bht9v&VW8yg-@&-H7ZMTySP4ZAXWtu!)HYj%;BYZnsTUU0vO)SFhsYNZcP~ zUhfdSapT|V$ql&V4LlsH=?|_gEiGJBL>n!3y&N^+;W(|z3-UC?D_fJ*y|08`JbU(5 zulVVaxM?J}fI#mq1zyz7&Q6}{i*mDugUM?9?%$&DiIC7Bd=mTht2%5%XlQ6l%Pp>{ z?CTv$yXd4V%**lI;Z z#lWMjFi#bE)5y=&CmHFzvyFar5OOIgLJjBY+vs)XSZXhCZ@6`<;V~CVI+?Degr+7r z3kwUGEV9b1NeGbh{Xjv|9?_xpQZGd)v&MgNutxNT>pm zkC(TwsECh~Q<*2p*2YGSiz+duzP>&(GBPbK?delO{0K@~TEqiO;k5Jf;Dze#&CR@F z2O8r1x;pxasNvb!SqS;}@897#Gcz+XGBPuxnKzseFwYhf7iU&&N4nl?pNKImMei?m zMi&PQ2nt^2Z;y(yvNEL7{rmUt-X(hR<&aH6CTnhN41eoK5qu0eR9?R7F4_XQ^zfm? 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Some of the improvements that we have planned for the But, of course you are welcome to propose new fancy features and help make them a reality! Pull Requests are always welcome! ## Credit -Move Base Flex was initially developed at Magazino ![Magazino Icon](doc/images/logos/magazino_icon.png). -The latest version (ROS2) is developed at maintained by Nature Robots ![Nature Robots Icon](doc/images/logos/nature_robots_icon.jpg). + +### [Magazino](https://www.magazino.eu/) + + + +Move Base Flex was initially developed at Magazino. + +--- + +### [Nature Robots](https://naturerobots.com/) + + + +The latest version (ROS2) is developed and maintained by Nature Robots. ## Build Status From e06c1a0cbdb65a45ae58b8a4d398ba14a4b2e7d9 Mon Sep 17 00:00:00 2001 From: Matthias Holoch Date: Wed, 16 Oct 2024 12:18:48 +0200 Subject: [PATCH 07/10] Update README.md fix image placement --- README.md | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/README.md b/README.md index 256b883d..e448e299 100644 --- a/README.md +++ b/README.md @@ -34,21 +34,12 @@ But, of course you are welcome to propose new fancy features and help make them ## Credit -### [Magazino](https://www.magazino.eu/) - - - +### [ Magazino](https://www.magazino.eu/) Move Base Flex was initially developed at Magazino. ---- - -### [Nature Robots](https://naturerobots.com/) - - - +### [ Nature Robots](https://naturerobots.com/) The latest version (ROS2) is developed and maintained by Nature Robots. - ## Build Status | ROS Distro | GitHub CI | Develop | Documentation | Source Deb | Binary Deb | From 2da06cd277a26c8a96508755ad1ab2be226c1ab3 Mon Sep 17 00:00:00 2001 From: Matthias Holoch Date: Wed, 16 Oct 2024 12:45:51 +0200 Subject: [PATCH 08/10] add announcement section with note on ROS2 migration status --- README.md | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/README.md b/README.md index e448e299..f464d8be 100644 --- a/README.md +++ b/README.md @@ -13,6 +13,20 @@ This repository contains Move Base Flex (MBF), a backwards-compatible replacemen Please see also the [Move Base Flex Documentation and Tutorials](https://wiki.ros.org/move_base_flex) in the ROS wiki. And [this repository](https://github.com/Rayman/turtlebot3_mbf) contains a working minimal configuration for a turtlebot 3. +## Announcements / News +### 16.10.2024 First ROS2 Version of Move Base Flex +The first working ROS2 version of Move Base Flex has been published. +It targets the ROS2 distro `humble` and includes most components you know from ROS1: +- mbf_abstract_core & mbf_abstract_nav +- mbf_simple_core & mbf_simple_nav (for navigation components that need no map representation) +- mbf_utility +- mbf_msgs +The ROS2 version comes with an additional package that helps with integration tests: +- mbf_test_utility (only a test dependency) +The two packages are not yet migrated yet: +- mbf_costmap_core & mbf_costmap_nav (for navigation components that utilize a 2D costmap) +Note that [mesh_navigation](https://github.com/naturerobots/mesh_navigation) is also available for ROS2, now. It provides navigation components that utilize 3D mesh maps. + ## Concepts & Architecture We have created Move Base Flex for a larger target group besides the standard developers and users of move_base and 2D navigation based on costmaps, as well as addressed move_base's limitations. Since robot navigation can be separated into planning and controlling in many cases, even for outdoor scenarios without the benefits of flat terrain, we designed MBF based on abstract planner-, controller- and recovery behavior-execution classes. To accomplish this goal, we created abstract base classes for the nav core BaseLocalPlanner, BaseGlobalPlanner and RecoveryBehavior plugin interfaces, extending the API to provide a richer and more expressive interface without breaking the current move_base plugin API. The new abstract interfaces allow plugins to return valuable information in each execution cycle, e.g. why a valid plan or a velocity command could not be computed. This information is then passed to the external executive logic through MBF planning, navigation or recovering actions’ feedback and result. The planner, controller and recovery behavior execution is implemented in the abstract execution classes without binding the software implementation to 2D costmaps. In our framework, MoveBase is just a particular implementation of a navigation system: its execution classes implement the abstract ones, bind the system to the costmaps. Thereby, the system can easily be used for other approaches, e.g. navigation on meshes or 3D occupancy grid maps. However, we provide a SimpleNavigationServer class without a binding to costmaps. From 37d8a295ed78e0789fed88a1383ac45ae37d2dd3 Mon Sep 17 00:00:00 2001 From: Matthias Holoch Date: Wed, 16 Oct 2024 12:51:38 +0200 Subject: [PATCH 09/10] fix line breaks --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index f464d8be..cbce3760 100644 --- a/README.md +++ b/README.md @@ -21,10 +21,13 @@ It targets the ROS2 distro `humble` and includes most components you know from R - mbf_simple_core & mbf_simple_nav (for navigation components that need no map representation) - mbf_utility - mbf_msgs + The ROS2 version comes with an additional package that helps with integration tests: - mbf_test_utility (only a test dependency) + The two packages are not yet migrated yet: - mbf_costmap_core & mbf_costmap_nav (for navigation components that utilize a 2D costmap) + Note that [mesh_navigation](https://github.com/naturerobots/mesh_navigation) is also available for ROS2, now. It provides navigation components that utilize 3D mesh maps. ## Concepts & Architecture From 9192391c87919d3a523a154af9a401553a15d94c Mon Sep 17 00:00:00 2001 From: Matthias Holoch Date: Tue, 19 Nov 2024 13:05:44 +0100 Subject: [PATCH 10/10] fix link urls --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index cbce3760..b6db460d 100644 --- a/README.md +++ b/README.md @@ -45,7 +45,7 @@ MBF is an ongoing project. Some of the improvements that we have planned for the * Add Ackermann steering API * Multi Goal API + Action * Add new navigation server and core packages using [grid_map](https://wiki.ros.org/grid_map). -* Constraints-based goal (see issue https://github.com/nature_robots/move_base_flex/issues/8) +* Constraints-based goal (see issue https://github.com/naturerobots/move_base_flex/issues/8) But, of course you are welcome to propose new fancy features and help make them a reality! Pull Requests are always welcome! @@ -62,4 +62,4 @@ The latest version (ROS2) is developed and maintained by Nature Robots. | ROS Distro | GitHub CI | Develop | Documentation | Source Deb | Binary Deb | |-------------|-----------|---------|---------------|------------|------------| | **Humble** | [![Humble CI](https://github.com/naturerobots/move_base_flex/actions/workflows/humble.yaml/badge.svg?branch=humble)](https://github.com/naturerobots/move_base_flex/actions/workflows/humble.yaml) | TODO | TODO | TODO | TODO | -| **Noetic** | [![Noetic CI](https://github.com/nature_robots/move_base_flex/workflows/Noetic%20CI/badge.svg)](https://github.com/nature_robots/move_base_flex/actions?query=workflow%3A%22Noetic+CI%22) | [![Build Dev Status](http://build.ros.org/buildStatus/icon?job=Ndev__move_base_flex__ubuntu_focal_amd64)](http://build.ros.org/job/Ndev__move_base_flex__ubuntu_focal_amd64) | [![Build Doc Status](http://build.ros.org/buildStatus/icon?job=Ndoc__move_base_flex__ubuntu_focal_amd64)](http://build.ros.org/job/Ndoc__move_base_flex__ubuntu_focal_amd64) | [![Build Src Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__move_base_flex__ubuntu_focal__source)](http://build.ros.org/job/Nsrc_uF__move_base_flex__ubuntu_focal__source) | [![Build Bin Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__move_base_flex__ubuntu_focal_amd64__binary)](http://build.ros.org/job/Nbin_uF64__move_base_flex__ubuntu_focal_amd64__binary) | +| **Noetic** | [![Noetic CI](https://github.com/naturerobots/move_base_flex/workflows/Noetic%20CI/badge.svg)](https://github.com/naturerobots/move_base_flex/actions?query=workflow%3A%22Noetic+CI%22) | [![Build Dev Status](http://build.ros.org/buildStatus/icon?job=Ndev__move_base_flex__ubuntu_focal_amd64)](http://build.ros.org/job/Ndev__move_base_flex__ubuntu_focal_amd64) | [![Build Doc Status](http://build.ros.org/buildStatus/icon?job=Ndoc__move_base_flex__ubuntu_focal_amd64)](http://build.ros.org/job/Ndoc__move_base_flex__ubuntu_focal_amd64) | [![Build Src Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__move_base_flex__ubuntu_focal__source)](http://build.ros.org/job/Nsrc_uF__move_base_flex__ubuntu_focal__source) | [![Build Bin Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__move_base_flex__ubuntu_focal_amd64__binary)](http://build.ros.org/job/Nbin_uF64__move_base_flex__ubuntu_focal_amd64__binary) |