Turtlebot3 Burger Foxy Nav 2 Architecture 20210308

TBD This is an outline

cat ~/maps/hall01.yaml

image: /home/eepp/maps/hall01.pgm
mode: trinary
resolution: 0.05
origin: [-3.15, -3.65, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

Original map starting in the hallway.

 eog hall01org.png

Modified map with blocked off paths.

See for Turtlebot3_Burger_Foxy_Nav_2_Execution_20210222

TBD Add

 ps -au

following created with

 rqt_graph