norlab-ulaval / wiln Goto Github PK

The provided list of services is outdated

• Add @WilliamDubois as a maintainer in package.xml, as it is currently the case

The number of loops done by the robot is not always the same as the one specified by the user. Need to give more details as to when this issue arises.

Embed Teach -> Repeat procedure inside a service call to return home

Find a way to convey the status on WILN on Warthog

In ROS2, the README is currently giving instructions on the use of GeRoNa for path control. We should instead provide documentation for norlab_controllers.

• Add instructions on norlab_controllers
• Library architecture schematic

Service calls can be cumbersome on a robot that has multiple running nodes.

I suggest that all service names follow the style /wiln/<service-name> so that it is easier to understand that the different services are all related to WILN

All three custom WILN messages in srv folder only use a single std_msgs type and are therefore redundant

ROS melodic no longer supported. Need to migrate to ROS 2 humble, which is LTS until 2027.

GeRoNa is no longer maintained. It is wiser to just add the modules that are relevant to our use to this repository to remove the dependency. We need the following path-following controllers:

• Orthogonal-exponential
• HBZ
• Pure pursuit

It seems like the README doesn't show how to install libnabo, even though it is used by libpointmatcher.

I would recommend adding libnabo instructions to the README, or moving installation instructions to a documentation web page.

The robot goes the wrong way when doing a repeat after the first time.

• Add robot_name metadata info
• Add initial timestamp metadata info
• Add timestamps to trajectory points, for time-based applications with LTR file format

Possible approach:

• Load the map and the trajectory
• Visualise both in RViz / Foxglove
• Send an initial pose message from Rviz / Foxglove and use this message as the initial pose estimate for ICP

Some dependencies are not mentioned in the installation guide:

• norlab_controllers_msgs
• service_caller