# ROS2 Navigation WG - Thursday 3:00 pm Pacific (GMT-7:00)

**URL:** <https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586>\
**Category:** ROS General\
**Tags:** wg-navigation\
**Created:** [January 23, 2019, 8:44pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586 "2019-01-23T20:44:36Z")\
**Posts on this page:** 20\
**Page:** 1

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [January 23, 2019, 8:44pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/1 "2019-01-23T20:44:36Z")

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Thursday (recurring)  
3:00pm Pacific Standard Time

Weekly on Thursday

[Join Hangouts Meet](https://meet.google.com/pzs-bjuq-gjn?hs=122)

[meet.google.com](https://meet.google.com/pzs-bjuq-gjn)

### [Meet](https://meet.google.com/pzs-bjuq-gjn)

Join by phone

‪+1 423-588-1304‬ PIN: ‪426 363 201‬#

Please reply if you plan to attend.

Also, if you would like to be added to the Calendar notice, please message me with your email address.

Matt

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**Author:** ![gbiggs](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/gbiggs/32/30361_2.png) [@gbiggs](https://discourse.openrobotics.org/u/gbiggs)\
**Post date:** [January 23, 2019, 11:56pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/2 "2019-01-23T23:56:29Z")

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I will be there, although I may be an elevator ride late (I’m not sure if I can get into the building before 7am).

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [January 31, 2019, 7:29pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/3 "2019-01-31T19:29:44Z")

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Meeting again today 1/31. 2pm PST.

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [February 6, 2019, 10:27pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/4 "2019-02-06T22:27:25Z")

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Updated for meeting on 2/7.

See you again this week, same bat time, same bat channel!

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [February 14, 2019, 5:11pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/5 "2019-02-14T17:11:40Z")

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Meeting again today, 2/14, 2pm Pacific.

Topics:

- Crystal development branch and sync release
- World Model Design
- Lifecycle Node status

As usual, if you’d like to receive a weekly google calendar invite, message me and I’ll add you.

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [February 26, 2019, 4:56pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/6 "2019-02-26T16:56:33Z")

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Meeting this Thursday 2/28, 2pm Pacific.

Message me with your email address if you want to receive the Google calendar invite.

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [March 7, 2019, 10:58pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/7 "2019-03-07T22:58:14Z")

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Meeting notes from today, 3/7/19  
[https://docs.google.com/a/intel.com/document/d/e/2PACX-1vQlAOYc\_BJ8ulbS0\_xSJCQaiSwsaUxPWol35XJSc\_KbtyU9CZUAqIESVi-75hA0yjtS1JJxV0Iv-LpS/pub](https://docs.google.com/a/intel.com/document/d/e/2PACX-1vQlAOYc_BJ8ulbS0_xSJCQaiSwsaUxPWol35XJSc_KbtyU9CZUAqIESVi-75hA0yjtS1JJxV0Iv-LpS/pub)

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**Author:** ![ruffsl](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/ruffsl/32/83_2.png) [@ruffsl](https://discourse.openrobotics.org/u/ruffsl)\
**Post date:** [March 7, 2019, 11:13pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/8 "2019-03-07T23:13:45Z")

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That link redirects to `sifederation.intel.com`, and results in `DNS_PROBE_FINISHED_NXDOMAIN`.

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [March 8, 2019, 3:12am UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/9 "2019-03-08T03:12:58Z")

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OK, well I tried the Google Docs “Publish to web” which I guess didn’t work. Sorry. I had thought that would work. I won’t try that again.. 🙄

Here they are.

**3/7/19 - ROS2 Navigation WG Notes**

Nav2 usage examples / tutorials needed

- Bringup on your robot
  - Similar to ROS1 Navigation tutorials
  - Also see Nav section of the book Quigley, Gerkey, et al
  - Create page link from main README

- Steve - PDF Navigation tuning guide
- Look to use GH Pages
- Carl will look at what OSRF is using for main ROS2 tutorials

Nav2 Dashing Roadmap - [Eloquent Features · Issue #592 · ros-navigation/navigation2 · GitHub](https://github.com/ros-planning/navigation2/issues/592)

- Need to update each line with relevant issues & PRs

- Add “Help Wanted” where needed

Real-time support

- ROS2 deadlines, liveliness

- Meeting held yesterday, decision made to focus on Topics first, then Services and Actions later

- Mike Jeronimo also working on some proposed enhancements to ROS2 rates and timers for monitoring if they’re meeting deadlines

Linux Foundation RT kernel - full RT support will be available this Summer

- PREEMPT\_RT will be “built in” and can be turned on / tuned on system without rebuilding

Safety certified Linux - Eliza project?

- Geoff will look for a link to send out

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**Author:** ![gbiggs](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/gbiggs/32/30361_2.png) [@gbiggs](https://discourse.openrobotics.org/u/gbiggs)\
**Post date:** [March 8, 2019, 5:35am UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/10 "2019-03-08T05:35:30Z")

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> **[News & Events – ELISA](https://elisa.tech/news/)**

They have significant industry backing and apparently a very large budget to work with.

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**Author:** ![vmayoral](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/vmayoral/32/3665_2.png) [@vmayoral](https://discourse.openrobotics.org/u/vmayoral)\
**Post date:** [March 8, 2019, 8:36am UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/11 "2019-03-08T08:36:36Z")

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> [@mkhansen](#):
>
> Linux Foundation RT kernel - full RT support will be available this Summer
> 
> - PREEMPT\_RT will be “built in” and can be turned on / tuned on system without rebuilding
> 
> Safety certified Linux - Eliza project?
> 
> - Geoff will look for a link to send out

Due to resource limitations, we’re not directly involved in the nav. stack @mkhansen however we’re very interested on getting some alignment here, specially with regard our ongoing work on MoveIt! 2.

+1 to the ELISA project, we recently joined the initiative and seems to be rather well oriented.

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [March 8, 2019, 3:51pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/12 "2019-03-08T15:51:58Z")

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Ive been talking with @davetcoleman semi-regularly regarding our Nav2 work, and he attended the WG yesterday. I’m glad to hear about the MoveIt! 2 project happening too. Let me know what alignment you’re looking for, and I’m happy to collaborate.

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [March 21, 2019, 2:48pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/13 "2019-03-21T14:48:17Z")

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Update, due to Daylight Saving time in the US, we’re pushing back the WG to 3pm to allow for participants in the Asian continent.

We’re meeting today 3/21 at 3pm Pacific.

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [March 26, 2019, 5:07pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/14 "2019-03-26T17:07:34Z")

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No meeting this week (3/28/19) - I’m on family vacation

Here are the notes from last weeks meeting. Navigation 2 WG 3/21/19

**Attendees:**  
Carl  
Mohammad  
Mike  
Matt  
Jacob Perron  
Steve M  
Devin Bonnie  
Emerson Knapp  
Ruffin

**Agenda**

LifecycleHelper Class - Issue #654 (Mike Jeronimo)

- Will this work for Actions?

- Jacob will follow up with Karsten & comment in issue

Nav2 RViz plugins

- LIfecycle control (Startup and shutdown)
- Loop time monitoring

Lifecycle implementation PR #1 - [Temporary nav2\_lifecycle and an example lifecycle node by mjeronimo · Pull Request #612 · ros-navigation/navigation2 · GitHub](https://github.com/ros-planning/navigation2/pull/612)

- Up for review, requesting feedback

Random Crawl - (Mohammad H)

- Robot will move randomly without hitting obstacles
- Can be used to test AMCL, by checking location vs. Gazebo
- Can also be used to “explore” a map for SLAM
- Could be used for auto-localization
- Only relies on Keras and Tensorflow, not using OpenAI
- Not released yet, WIP

Pose Persistence - (Carl)

- In ROS, AMCL saved pose to parameter server
- In ROS2, no parameter server, how can we save?
  - Is this a more general issue?
    - Pose, trajectory, map?

PR change for QOS settings - [Costmap static layer to subscribe to map with default QOS settings by mkhansenbot · Pull Request #617 · ros-navigation/navigation2 · GitHub](https://github.com/ros-planning/navigation2/pull/617)

Opens - None

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [April 24, 2019, 9:59pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/15 "2019-04-24T21:59:53Z")

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All - calling for topics for Nav2 WG meeting tomorrow 4/25

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [April 25, 2019, 11:05pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/16 "2019-04-25T23:05:18Z")

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Meeting notes:  
Navigation 2 WG 4/25/19

Attendees:  
Carl  
Matt  
Mike J  
Mohammad  
Brian  
Steve M  
Geoff B  
Chris B  
Jacob

Topics:  
Lifecycle staging - see multiple PRs in review right now

Parameters change upstream broke master branch, need to fix build and test

Parameters discussion

- can we add metadata to enumerate the lifecycle state a parameter can be changed in.
- Need to review this PR and provide feedback: [Parameters support ranges by wjwwood · Pull Request #72 · ros2/rcl\_interfaces · GitHub](https://github.com/ros2/rcl_interfaces/pull/72)
- Authentication for parameters - would need to talk to security WG about this

Actions API change is coming -

- [Add optional callbacks to action client for goal response and result by jacobperron · Pull Request #701 · ros2/rclcpp · GitHub](https://github.com/ros2/rclcpp/pull/701)
- Adds optional callbacks for result and feedback, so no ‘wait for result’ is needed

Architecture diagram - Mike J. to present next week

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**Author:** ![jacob](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/jacob/32/160_2.png) [@jacob](https://discourse.openrobotics.org/u/jacob)\
**Post date:** [April 26, 2019, 4:27pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/17 "2019-04-26T16:27:02Z")

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FYI, changes to the action client API are merged to master now. You can find a new [example here](https://github.com/ros2/examples/blob/0c93fb0e5f5449cefc18c06928fcb4bd457745f8/rclcpp/minimal_action_client/member_functions.cpp).

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**Author:** ![jacob](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/jacob/32/160_2.png) [@jacob](https://discourse.openrobotics.org/u/jacob)\
**Post date:** [May 2, 2019, 10:28pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/18 "2019-05-02T22:28:07Z")

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In case it affects the navigation team, yet another small change to the action API adding a response code to the cancel service response:

[https://github.com/ros2/rcl\_interfaces/issues/63](https://github.com/ros2/rcl_interfaces/issues/63)

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**Author:** ![mkhansen](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mkhansen/32/3748_2.png) [@mkhansen](https://discourse.openrobotics.org/u/mkhansen)\
**Post date:** [May 8, 2019, 11:44pm UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/19 "2019-05-08T23:44:35Z")

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All, here is the diagram that @mjeronimo presented last week which shows the high-level overview of the architecture with lifecycle nodes and the lifecycle manager.

[https://drive.google.com/file/d/1B7FxQHyHjDXkpfO61WWg9jsvUSXH0cRe/view?usp=sharing](https://drive.google.com/file/d/1B7FxQHyHjDXkpfO61WWg9jsvUSXH0cRe/view?usp=sharing)

I’m cancelling this week’s meeting due to travel.

I’d also like to do a ‘call for topics’ for upcoming meetings. If there are items you want to discuss, please post them here. Also, as usual, if you want to be added to the meeting invite, message me through the discourse messaging app and include the email address you want added to the invite.

Matt

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**Author:** ![gbiggs](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/gbiggs/32/30361_2.png) [@gbiggs](https://discourse.openrobotics.org/u/gbiggs)\
**Post date:** [May 9, 2019, 1:54am UTC](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586/20 "2019-05-09T01:54:20Z")

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Thanks for providing that diagram, and sorry I couldn’t be there for the explanation. It was 10 days of enforced holidays. I did intend to participate but ended up sleeping through my alarm.

Looking at the diagram, unfortunately there are aspects that I can’t understand without that explanation. Was a recording of the meeting made?

[Next page](https://discourse.openrobotics.org/t/ros2-navigation-wg-thursday-3-00-pm-pacific-gmt-7-00/7586.md?page=2)