D Architecture Description
Navigation system is an adaptation of the nav2 lifecycle manager. Changes from the original:
- Does not use bond to check the status of the nodes.
- Use a single lifecycle manager to manage navigation and location.
- Does not reset node states if one of them dies.
- Does not have different manager modes.
New features:
- Function to restart a single node.
- Function to restart location nodes.
- Service to modify the map.
- Service to modify the location mode.
Main operation:
- At startup, activate all nodes. It can be given a boot mode, which can be amcl, slam, or none.
- Through the map change service, the yaml_filename parameter is modified and the localization is restarted, that is, amcl/slam and map_server.
- Using the mode change service, amcl/slam states are modified to be able to switch between them.
Ros2cli:
- ros2 set map to modify the map you are using. Invoke the map change service.
- ros2 set mode to modify the mode. Invokes the mode change service.
- ros2 set pose to locate the robot. Publish in /initialpose.
- ros2 save map // ros2 save map to save the map in the current location.