1. Create a Configuration Assistant (Analog to MoveIt)

Task description

Moveit has long has a QT configuration assistant. This setup assistent helps the user configure their UDRF and needs to setup MoveIt configuration files.

A configuration assistant could be extremely beneficial to Navigation2 users as a way to minimize friction. We should provide a gui tool to cover the following configurations:

  • the broad strokes with the costmap, with a visualizer to show the user what it will look like
  • Select configurable costmap layers
  • Select recovery behavior parameters
  • URDF, footprint, and frame selection to make sure the options comply with standards, planner, and controller
  • Set minimum and maximum speed and other kinematic parameters
  • Select from a dropdown of possible planners and controllers
  • Helpful notes throughout the prompts to aid in selecting appropriate parameters
  • Selecting at behavior tree
  • @steve please add more specific options

After the items are configured, there should be a preview to see how the parameters effect the robot.

Project difficulty: High

Project community mentor: Steve Macenski @SteveMacenski

Mentor contact details: [See link above, link in GitHub profile description]

Contact information for the cooperating mentor (optional): juzhenatpku@gmail.com

Project output requirements

  • A QT based GUI configuration assistant that support the parameters listed above
  • A preview panel to display the parameters’ effection on the robot

Skills required

  • C++, Python3, QT framework
  • JSON/XML parsing
  • 3D programming (maybe needed in the preview)
  • Recommended: Gazebo simulation, ROS, and Navigation experience

List of relevant open source software repositories and refs

Licensing - All contributions will be under the Apache 2.0 license. - No other CLA’s are required.