Waypoint Navigation with vox_nav

vox_nav allows a user to do waypoint navigation with both map coordinates and GPS coordinates. The GPS waypoint following node converts GPS poses to map poses using robot_localizations fromLL service.

You may instantiate each of the server nodes as follows;

    navigate_through_poses_server_node = Node(
        package='vox_nav_navigators',
        executable='navigate_through_poses_server_node',
        name='navigate_through_poses_server_node',
        namespace='',
        output='screen',
        parameters=[params],
    )
    navigate_through_gps_poses_server_node = Node(
        package='vox_nav_navigators',
        executable='navigate_through_gps_poses_server_node',
        name='navigate_through_gps_poses_server_node',
        namespace='',
        output='screen',
        parameters=[params],
    )

The server nodes for waypoint navigation are written in vox_nav_navigators where they are implemented with behavior trees. There are no specific parameters that need to be passed to the server nodes, except for use_sim_time`.

The actual client nodes for the waypoint following are hosted in vox_nav_waypoint_nav_clients, see the launch folder and params folders.