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27 changes: 19 additions & 8 deletions 2021summerOfCode/Summer_2021_Student_Program.html
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<!DOCTYPE html>
<html class="writer-html5" lang="en">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Projects for 2021 Summer Student Program &mdash; Nav2 1.0.0 documentation</title>
<link rel="stylesheet" type="text/css" href="../_static/pygments.css" />
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Nav2
<img src="../_static/nav2_logo_powered.png" class="logo" alt="Logo"/>
</a>
<div class="version">
latest
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<div itemprop="articleBody">

<div class="section" id="projects-for-2021-summer-student-program">
<span id="summer-2021-student-program"></span><h1>Projects for 2021 Summer Student Program<a class="headerlink" href="#projects-for-2021-summer-student-program" title="Permalink to this headline"></a></h1>
<span id="summer-2021-student-program"></span><h1>Projects for 2021 Summer Student Program<a class="headerlink" href="#projects-for-2021-summer-student-program" title="Permalink to this heading"></a></h1>
<p>The <a class="reference external" href="https://summer.iscas.ac.cn/help/en/student/">Summer 2021 Student Program</a> is upon us!
See below for the list of project proposals for students to review and apply for.
This is by no means the only list of potential projects, please check our issue tracker or propose another if there’s something you think you’re well suited for that would be useful for Nav2.</p>
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27 changes: 19 additions & 8 deletions 2021summerOfCode/projects/assisted_teleop.html
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<!DOCTYPE html>
<html class="writer-html5" lang="en">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>3. Assisted Teleop &mdash; Nav2 1.0.0 documentation</title>
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Nav2
<img src="../../_static/nav2_logo_powered.png" class="logo" alt="Logo"/>
</a>
<div class="version">
latest
</div>
<div role="search">
<form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
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<div itemprop="articleBody">

<div class="section" id="assisted-teleop">
<span id="id1"></span><h1>3. Assisted Teleop<a class="headerlink" href="#assisted-teleop" title="Permalink to this headline"></a></h1>
<span id="id1"></span><h1>3. Assisted Teleop<a class="headerlink" href="#assisted-teleop" title="Permalink to this heading"></a></h1>
<p><strong>Task description</strong></p>
<p>In mobile robot and autonomous vehicle navigation, there are situations where a human driver is required to intervene to get the vehicle out of a sticky situation. This can be both as a backup in case of autonomy failure as well as the primary function of the robot (e.g. telepresence robots).</p>
<p>This project’s aim is to create an assisted teleop feature in Nav2 by means of a new behavior tree configuration file (the file that defines the flow of information for the navigation task) and potentially new plugins. This feature should make sure to use the local costmap and/or sensor data in order to avoid obstacles and take position and/or velocity commands to attempt to follow.</p>
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27 changes: 19 additions & 8 deletions 2021summerOfCode/projects/create_configuration_assistant.html
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<!DOCTYPE html>
<html class="writer-html5" lang="en">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>1. Create a Configuration Assistant (Analog to MoveIt) &mdash; Nav2 1.0.0 documentation</title>
<link rel="stylesheet" type="text/css" href="../../_static/pygments.css" />
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<script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
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Nav2
<img src="../../_static/nav2_logo_powered.png" class="logo" alt="Logo"/>
</a>
<div class="version">
latest
</div>
<div role="search">
<form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
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<div itemprop="articleBody">

<div class="section" id="create-a-configuration-assistant-analog-to-moveit">
<span id="create-moveit-analog"></span><h1>1. Create a Configuration Assistant (Analog to MoveIt)<a class="headerlink" href="#create-a-configuration-assistant-analog-to-moveit" title="Permalink to this headline"></a></h1>
<span id="create-moveit-analog"></span><h1>1. Create a Configuration Assistant (Analog to MoveIt)<a class="headerlink" href="#create-a-configuration-assistant-analog-to-moveit" title="Permalink to this heading"></a></h1>
<p><strong>Task description</strong></p>
<p><a class="reference external" href="https://moveit.ros.org/">Moveit</a> has long has a QT <a class="reference external" href="http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html">configuration assistant</a>. This setup assistant helps the user configure their UDRF and needs to setup MoveIt configuration files.</p>
<p>A configuration assistant could be extremely beneficial to Navigation2 users as a way to minimize friction. We should provide a gui tool to cover the following configurations:</p>
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27 changes: 19 additions & 8 deletions 2021summerOfCode/projects/create_plugins.html
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<!DOCTYPE html>
<html class="writer-html5" lang="en">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>2. Create New Planner and Controller Plugins &mdash; Nav2 1.0.0 documentation</title>
<link rel="stylesheet" type="text/css" href="../../_static/pygments.css" />
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<script src="../../_static/underscore.js"></script>
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<script src="../../_static/sphinx_highlight.js"></script>
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<script src="../../_static/js/theme.js"></script>
<link rel="index" title="Index" href="../../genindex.html" />
<link rel="search" title="Search" href="../../search.html" />
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Nav2
<img src="../../_static/nav2_logo_powered.png" class="logo" alt="Logo"/>
</a>
<div class="version">
latest
</div>
<div role="search">
<form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
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<div itemprop="articleBody">

<div class="section" id="create-new-planner-and-controller-plugins">
<span id="create-plugins"></span><h1>2. Create New Planner and Controller Plugins<a class="headerlink" href="#create-new-planner-and-controller-plugins" title="Permalink to this headline"></a></h1>
<span id="create-plugins"></span><h1>2. Create New Planner and Controller Plugins<a class="headerlink" href="#create-new-planner-and-controller-plugins" title="Permalink to this heading"></a></h1>
<p><strong>Task description</strong></p>
<p>The ROS 2 Navigation Stack has a number of plugin interfaces to help users create or select specific plugins for planning, control, and behaviors for their applications. Two specific areas that the Nav2 stack could use more algorithm plugins for is for path planning (referred to as a planner plugin) and local trajectory generation (referred to as controller plugins). A simple tutorial for creating a <a class="reference external" href="https://docs.nav2.org/tutorials/docs/writing_new_nav2planner_plugin.html">planner plugin can be found here.</a> Currently, we have one planner, NavFn which implements an A* and Dijkstra’s planner. It also has two controllers, DWB and TEB which implement a DWA and timed elastic-band optimization techniques. There is also a Hybrid-A* and OMPL planner in development.</p>
<p>Your task will be to create a high-quality implementation of one of the following algorithms for the Nav2 plugin interfaces. Alternative algorithms may also be considered upon approval, please ask &#64;steve in the application phase. Please select only one to discuss.</p>
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27 changes: 19 additions & 8 deletions 2021summerOfCode/projects/dynamic.html
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<!DOCTYPE html>
<html class="writer-html5" lang="en">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>1. Navigation Dynamic Obstacle Integration &mdash; Nav2 1.0.0 documentation</title>
<link rel="stylesheet" type="text/css" href="../../_static/pygments.css" />
<link rel="stylesheet" type="text/css" href="../../_static/css/theme.css" />
<link rel="stylesheet" type="text/css" href="../../_static/copybutton.css" />
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<script src="../../_static/jquery.js"></script>
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<link rel="shortcut icon" href="../../_static/nav2_48x48.png"/>
<!--[if lt IE 9]>
<script src="../../_static/js/html5shiv.min.js"></script>
<![endif]-->

<script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
<script src="../../_static/jquery.js"></script>
<script src="../../_static/underscore.js"></script>
<script src="../../_static/_sphinx_javascript_frameworks_compat.js"></script>
<script src="../../_static/doctools.js"></script>
<script src="../../_static/sphinx_highlight.js"></script>
<script src="../../_static/clipboard.min.js"></script>
<script src="../../_static/copybutton.js"></script>
<script src="../../_static/js/theme.js"></script>
<link rel="index" title="Index" href="../../genindex.html" />
<link rel="search" title="Search" href="../../search.html" />
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Nav2
<img src="../../_static/nav2_logo_powered.png" class="logo" alt="Logo"/>
</a>
<div class="version">
latest
</div>
<div role="search">
<form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
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<div itemprop="articleBody">

<div class="section" id="navigation-dynamic-obstacle-integration">
<span id="dynamic"></span><h1>1. Navigation Dynamic Obstacle Integration<a class="headerlink" href="#navigation-dynamic-obstacle-integration" title="Permalink to this headline"></a></h1>
<span id="dynamic"></span><h1>1. Navigation Dynamic Obstacle Integration<a class="headerlink" href="#navigation-dynamic-obstacle-integration" title="Permalink to this heading"></a></h1>
<p><strong>Task description</strong></p>
<p>The Navigation Stack has long provided robust navigation in a wide range of environments. Controllers have been developed to operate effectively in the presence of dynamic obstacles without explicitly modeling the characteristics of dynamic obstacles. However, as the field has progressed and we see more and more robots using ROS deployed in human-filled spaces, more consideration must be taken with respect to dynamic obstacles such as people, carts, animals, and vehicles.</p>
<p>Your task will be to create integrations with existing machine learning tools that create dynamic obstacle information (ComplexYolo, Yolo3D, etc) and tie them into the navigation stack for use. It is not in the scope for you to retrain or otherwise become an expert in 3D machine learning, but some basic knowledge will be helpful. We already have a starting point in the project links below that needs to be driven to completion. This includes completing the on-going work to integrate yolact edge into this work to replace detectron2 and benchmark these capabilities on GPUs to verify sufficient run-time performance, as well as other tangental feature development.</p>
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