Proposal for the integration of the metacontroller in nav2/bt_coordinator (from T5.2, DEADLINE July 27)

[chcorbato]

(from #3 )
Proposal for the integration of the metacontroller in the nav2 behavior coordination with BTs

[fmrico]

Hi @chcorbato

On the Pilot-URJC, the integration of the meta controller was using system modes. In each mode, we defined 2 mechanisms:

• Changing Behavior Tree to use
• Changing Speeds

System modes changed the parameters, and we modified the bt_navigator to be notified of the changes in these parameters. Now we have to think about the final interface.

In the last meeting, we talked of introducing a new type of node in the behavior trees. Something like meta-controller node, that could call to recovery behaviors, or even change navigation parameters.

Do you like this approach? @chcorbato @jginesclavero @lbajo

[jginesclavero]

meta-controller node in BTs. LGTM!

[lbajo]

LGTM too!!

[chcorbato]

I think that is definitively a possible approach, I think we should explore it in detail.
We discussed the possibility of metacontroller replacing the recovery node in navigation BTs, how would this look like?

• do we define a single default BT for navigation, which has metacontrol instead of ``
• If the BT for navigation can also be modified by the metacontrol, but the metacontrol is a leaf node of that BT, wouldn't that cause some problem?

Can someone elaborate a description of how this could work in a concrete scenario? I suggest using an scenario you want to explore in the paper.