Feature - nav2_route server support for kilted

[AdarshKaran]

• added support for route server

Dense route

ros2 launch rox_navigation navigation.launch.py use_sim_time:=True use_route:=True
use this command to run the python executable for route server that reads the node id's list from route.yaml and traverses through all those node id's

route_server_dense_route_commander.mp4

Sparse route

Alternatively, you can use the rviz send goal command to use route server, but this doesn't fully stick to the route (meaning if it finds a low cost path in free space it will choose that).
This is done by setting default_nav_to_pose_bt_xml to use navigate_w_routing_global_planning_and_control_w_recovery.xml . This still has some issues as you can see it struggle and get stuck towards the end of the video

route_server_sparse_route_bt.mp4

Using navigate_on_route_graph_w_recovery.xml instead throws error_code:0

Route Creation

• I used the online LIF editor (https://vda5050-lif-editor.vercel.app/) and followed this tutorial https://docs.nav2.org/tutorials/docs/route_server_tools/route_graph_generation_lif_editor.html
• but this editor isn't specific to ROS and doesn't support .pgm files. So, the map from slam had to be converted to .png
• there was some trial and error in figuring out the values for adding the map

1. find out the .png file's width and height in pixels (385x499)
2. convert to metres by multiplying with the resolution value found in .yaml of the map (width = 11.55 m and height = 14.97 m)
3. Background X position is the origin.x value and Background Y position is -(height - offset.y) which gives Background X position = -5.88 and Background Y position = -4.99

these were the values i used for neo_workshop map