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[Refactor] Re-organize launchfiles for a cleaner stack #12

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JCarosella opened this issue Oct 28, 2022 · 0 comments · May be fixed by #13
Open

[Refactor] Re-organize launchfiles for a cleaner stack #12

JCarosella opened this issue Oct 28, 2022 · 0 comments · May be fixed by #13
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enhancement New feature or request

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@JCarosella
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JCarosella commented Oct 28, 2022

Currently launchfiles and packages really intertwined together. I propose modifying the launchfiles and packages to a better organization:

  • Noah_gazebo package:
    • Have a master launchfile that spawns the world and robot, rviz, robot_state_publisher, navigation stack and wayposes publisher
    • Launchfile to spawn the world and robot
    • Launchfile to spawn the robot and robot description param
  • Noah RViz: Contains a launchfile just for RViz and configs for the three use cases (navigation with map, without a map and slam)
  • Noah_2dnav:
    • A master launchfile that covers the three scenarios: navigation with map, without map and slam
    • Launchfile for move_base
    • Launchfile for amcl
    • Contains the the move base and amcl configs
  • Noah_rtabmap: Contains a launchfile to launch the nodes to perform SLAM
  • Noah control utils package:
    • Launchfile to teleoperate noah with the keyboard
    • Launchfile to a helper node that publishes wayposes for the "move_base_sequence" node
  • Noah description, mostly unchanged, contains the robot description
@JCarosella JCarosella added the enhancement New feature or request label Oct 28, 2022
@JCarosella JCarosella self-assigned this Oct 28, 2022
@JCarosella JCarosella linked a pull request Oct 28, 2022 that will close this issue
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