Describe navigation/Roadmap/Brainstorm here.

Brainstorm

* Topological planning on global level * 3D lattice planning on room level * plugin vs ROS node model?

• swapping things out on the fly in the move_base node
• plugin model doesn't require a lot of change

* do we nedd to maintain both costmaps * how does the topological map get updated over time?

• this becomes a huge deal when we move away from global planning with something like navfn

* perhaps plan on room-level in the odometric frame * exploration? should we move into this * improving perception... integrating stereo, improving filtering * need some sort of interface for people to give goals if we move to the topological planner * some new trajetory follower to work with the dynamic planner * some generic architecture for a series of windows in which an arbitrary number of planners can operate

• slot different planners in
• goal pose comes in
• trajectory comes out
• plugin model for this?
• some way to decide which planners are getting cycles
  • does each planner operate on its own thread?
  • should we have a scheduler built in somehow

Short Term Goals (a few months)

• Working on lattice planning and a new trajectory rollout that will allow the robot to follow the paths from the planner closely.
  • Improve navigation in narrow passages and doorways
  • Improve navigation in cluttered environments
• Fix perception issues with 3D sensors
• Integrate topological map into the navigation stack

Medium Term Goals (some research)

• Some sort of planning for dynamic obstacles
  • Need to be able to scrub the person out of the costmap
  • Some sort of costmap that handles dynamic obstacles differently than static ones and tracks them
  • A trajectory follower that takes dynamic obstacles into account
• Exploration and updating the map over long periods of time (SLAM online)

Long Term

• Extensibility and refactoring for arbitrary numbers and types of planners