Multi Map Level Server Example about bwi_common

[maxsvetlik]

Hi Mike

I'm hoping 2 years later this isn't an issue for you any more, but I'll try to answer some of your questions that may be helpful for others searching.

However, the wiki of multi_map_navigation...

That is not a wiki page for our package, which is why the transitions mentioned on that page don't exist in our multi_level_map_server package(s).

... navigation stack can understand that there are many floors in a building and then make a path to a wormhole and to show up in another floor with the correct map?

The multi_level_map_server package(s) do not attempt to do this. These packages merely handle and multiplex more than one map file, and leave level switching up to the user through the exposed ~change_current_level service. The new level's map is switched and the ROS nav stack responds accordingly (i.e. recognizing the new map file, inflating global obstacles, etc.)

The way we handle the integration into the navigation stack is through our higher level planning stack bwi_kr_execution. Here is the CallElevatorAction that may be useful as a reference.

The bottom line is that the planning to the wormhole and the level change is expected to be handled on top of the navigation stack. I have also, in a different lab, used multi_map_server along with ROSPlan to great success.

To your point, an example of using multi_level_map_server with our planning framework could be especially useful and could hopefully be done soon. I would also like to break multi_level_map_server out of bwi_common because I feel it has broader community appeal.