Connect the Navigation Stack

[erickmu1]

Description:

• To enable autonomous navigation using nav goals, we use the Navigation Stack

Goals:

• Connect required topics to the navigation stack
• Run the navigation stack on our robot

Acceptance Criteria:

• Can autonomously navigate to any nav goal reasonably far
• No outstanding errors/warnings that can be resolved
• Configuration files are accurate to the specifics of Caffeine

Notes:

• It is not required to understand all the parameters of the Navigation stack at this point
• Primary goal is to get Caffeine navigating autonomously reasonably well without any in-depth parameter tuning

[1999michael]

July 20th: Robot moves using rviz 2d nav goals using fixed odom frame

Todo

• Document parameters in a ROS wiki -> Yviel
• Test long distances -> Trudie

[erickmu1]

Generate a map server by mapping with IGVC with gmapping

Might as well do this in the RTAB Map issue, since it will come as a natural sub-task

Look into localizing with AMCL

This should be done with RTAB, no reason to also add AMCL

check whether we should use fixed odom or fixed base_link frame

What does this mean?

[erickmu1]

@yvielcastillejos see #14 in terms of Documenting Nav Stack params. I started a wiki here. You can either add to it or make a new one, I'll leave that up to you