[VDA5050] Navigate through nodes

[bobbleballs]

Addresses #44
The connector looks through the order that is accepted. If there are multiple released nodes that can be traversed without stopping (No HARD or SOFT actions) then the NavigateThroughNodes actions will be used instead.
For single nodes then the standard NavigateToNode action will be used. There is a parameter that will turn navigate through nodes, it is off by default to keep compatibility with the previous version.
A limitation is that an update to the order, i.e STITCH or UPDATE will not be applied straight away so there will be a short pause in-between whilst the next navigation is loaded after the current base is finished.

I have some examples that I will collate together into the Turtlebot3 Adaptor in vda5050_adapter_examples.

[miguelgarcia]

Hey @bobbleballs since adding the new behavior makes the connector a little more complex, do you think there is a real advantage is using NavigateThroughNodes vs multiple calls to NavigateToNode ? How does this improve the robot behavior ?

Thanks!

[bobbleballs]

Hey @bobbleballs since adding the new behavior makes the connector a little more complex, do you think there is a real advantage is using NavigateThroughNodes vs multiple calls to NavigateToNode ? How does this improve the robot behavior ?

Thanks!

Hi @miguelgarcia NavigateToNode requires the robot to come to a complete stop at each node call. When you are running robots in a situation where you have to traverse many nodes to navigate through a building this actually adds a lot of time to the navigation.
The method that I've used here allows for multiple navigation nodes (i.e. where there are no actions to be performed) to be combined in to a follow via waypoint fashion, akin to the navigate through poses actions in Nav2.
The robot is able to traverse multiple nodes without stopping this way which speeds up navigation a lot.