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Description
- Optimize navigation performance:
- Reimplement laser_inflator as a costmap layer. The layer should "paint" an extended number of pixels with the
setConvexPolygonCostmethod. Or, maybe simply check whether we can utilize the inflation_layer. - Reimplement distance_angle_controller as Nav2 plugins (controller + global planner)
- Clean up unused Nav2 plugins
- Reimplement laser_inflator as a costmap layer. The layer should "paint" an extended number of pixels with the
- Optimize hardware interface performance:
- Investigate where it is possible to utilize Composable Nodes.
- Reimplement the pump node as a ros2_control hardware interface (+ controller)
- Measure startup performance on Raspberry Pi
- Cleanups:
- Refactor the mirroring implementation
- Simplify launch files
Remove Delay BT
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