I came to ROS many years ago thinking “someone has probably already coded every basic robotics challenge”. Indeed, I found lots to use, but still find myself writing basic nodes because I don’t know how to search the “ROS mine” for a particular basic node I need.
For example: I’m trying to improve the robustness, and reliability of navigation of my TurtleBot4 robot in my home environment. Nav2 has a million parameters, and I have managed to get a param set for 10 waypoints around my home that succeed most tests. Two desirable waypoints cause a lot of recoveries and occasional goal failures.
I need a test node that collects recovery metrics and goal success/failure/skipped status during a 10 stop waypoint following run, to compare robustness and reliability across parameter changes, and waypoint tweaks. Other metrics like navigation time, distance travelled, delta x,y,heading between goal and result would be nice to have.
Surely someone has written a Nav2 test node I can use to optimize my Nav2 parameter set?
P.s. “Rotate normal to closest wall by /scan” is another basic challenge I would guess was written years ago.