Modernize README #356
Modernize README #356
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| ### [<img width="25" height="25" src="doc/images/logos/nature_robots_icon.jpg"> Nature Robots](https://naturerobots.com/) | ||
| The latest version (ROS2) is developed and maintained by Nature Robots. | ||
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| ## Further Resources |
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most of the resources are ROS1 only. Except:
I think the resources that only work with ROS1 could be dropped from this list.
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Ah yes, I will remove them with the next commit 👍
| ## Announcements & News | ||
| ### 16.10.2024 First ROS2 Version of Move Base Flex | ||
| The first working ROS2 version of Move Base Flex has been published. | ||
| It targets the ROS2 distro `humble` and includes most components you know from ROS1: | ||
| - mbf_abstract_core & mbf_abstract_nav | ||
| - mbf_simple_core & mbf_simple_nav (for navigation components that need no map representation) | ||
| - mbf_utility | ||
| - mbf_msgs | ||
| * **Modular Action-Based Architecture** | ||
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| Separate action servers for *path planning*, *control*, and *recovery* enable external [deliberation software](https://github.com/ros-wg-delib/awesome-ros-deliberation) (e.g., Behavior Trees, SMACH, or custom logic) to coordinate complex navigation strategies. | ||
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| The ROS2 version comes with an additional package that helps with integration tests: | ||
| - mbf_test_utility (only a test dependency) | ||
| * **Extensible Plugin Framework** | ||
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| Multiple planners, controllers, and recovery behaviors can be loaded simultaneously, selected at runtime, or executed in parallel using different concurrency slots. | ||
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| These two packages not migrated: | ||
| - mbf_costmap_core & mbf_costmap_nav (for navigation components that utilize a 2D costmap). Nav2, which hosts the 2D costmap equivalent to the one from ROS1, and ROS1's move_base are quite different, so interfaces do not easily fit anymore. This makes migration hard. PRs are welcome for this. However, we might integrate another 2D grid map planning module soon. | ||
| * **Rich Feedback and Diagnostics** | ||
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| All actions expose detailed feedback, results, and error codes, providing transparent runtime information for better debugging and system supervision. | ||
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| Note that [mesh_navigation](https://github.com/naturerobots/mesh_navigation) is also available for ROS2, now. It provides navigation components that utilize 3D mesh maps. |
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I think keeping a high level overview over what has changed is useful.
I agree that this does not need to part of the readme, where the focus should be the current state, not the history.
I also we could lose some of the text I wrote regarding "16.10.2024 First ROS2 Version of Move Base Flex" :)
Can we move the info to another file or at the end of the readme?
Or do you think that this kind of info should not be present at all here?
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I also thought about keeping the news somewhere. It would be fine to move it to the end of the file. Or maybe put it to the docs? https://naturerobots.github.io/mbf_docs/ . But those are still ROS 1, I think (?).
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with the latest commit I readded the news to the end of the readme
Cakem1x
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Cakem1x
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Thanks for iterating, looks good to me!
I believe some parts of the README for the ROS 2 version of MBF feel a bit outdated. For instance, many newer ROS users are likely unfamiliar with the original move_base. I've therefore revised the README to better highlight MBF's current purpose and core features, focusing on its role and key design aspects rather than its historical context.
What do you think? I'm open to any feedback or ideas for improvement.