Understand how ROS2 navigation works
User Story/Description
As a developer of motion I need to understand how the navigation works in ROS2 and how it can be used with Pepper.
Definition of Done
Have read the articles about navigation concepts, what a goal looks like and how it is sent to test Pepper moving.
How
Concepts and how they relate to Pepper: Pepper will navigate by using its odometry (measuring the distance like an optical mouse) and laser/depth camera (matching laser points to the map of a room).
AMCL is Adaptive Monte Carlo Localization for localizing. It will use odometry and laser points to find its position in a room (by a map).
BT Navigator is a behaviour tree navigator. It will use the /cmd_vel topic to make the robot move.
A map server basically hosts an image of a room that includes a cost map. Black is infinite cost, white is 0 cost, and grayscale is everything between. The image can be a .png file for instance.