List requirements for nav2 nodes according to the MROS requirements (from T5.1, DEADLINE July 31)

[chcorbato]

For example, all requires nodes should be started (activated?) according to the MROS designed mechanism.
All params that we consider necessary should be dynamically configurable
etc...

• List nav2 nodes and their parameters for Pilot turtlebot that can be subject to runtime reconfiguration in MROS

• List all nav2 nodes and their parameters that can be subject to runtime reconfiguration in MROS

• Verify that all nav2 nodes implement the reconfiguration interfaces required for MROS pilots

[jginesclavero]

Working on it.

* [ ]  List nav2 nodes and their parameters for Pilot turtlebot that can be subject to runtime reconfiguration in MROS

* [ ]  List all nav2 nodes and their parameters that can be subject to runtime reconfiguration in MROS

I am gathering all required nodes in a requirement list to put it in the GDoc.

* [ ]  Verify that all nav2 nodes implement the reconfiguration interfaces required for MROS pilots

I am reviewing the nav2 nodes, and I have checked that AMCL, costmap_2d, and costmap_2d plugins have a ParameterEvent callback to reread the parameter configuration. I have to test it with the Foxy version to ensure that it works as we expected.

On the other hand, nav2_controller hasn't got a ParameterEvent callback. Instead of this, it uses the on_configure method of the LifeCycleNode to read the parameters.

[chcorbato]

I am reviewing the nav2 nodes, and I have checked that AMCL, costmap_2d, and costmap_2d plugins have a ParameterEvent callback to reread the parameter configuration. I have to test it with the Foxy version to ensure that it works as we expected.

On the other hand, nav2_controller hasn't got a ParameterEvent callback. Instead of this, it uses the on_configure method of the LifeCycleNode to read the parameters.

These are very important findings about the architectural tactics used for reconfiguration, nice work @jginesclavero , please add them in the Gdoc.
If I understand it correctly, parameter configuration is dealt with differently in some nav2 nodes:

• Architectural tactic 1: parameter vales only updated in on_configure in the LifeCycleNode.
  • applied in: nav2_controller
• Architectural tactic 2: parameter values updated dynamically in ParameterEvent callback, without relation to the LifeCycleNode
  • applied in: AMCL, costmap_2d, and costmap_2d plugins