Added Social Navigation Layers Support

[jmcjacob]

Created the file global_costmap_params_social.yaml that will load the global costmap with the Passing and Proxemic layers. The launch files have also been modified to allow the parameter "with_social_layer" load the new yaml file instead of the original global_costmap_params.yaml when set to true. "with_social_layer" is by default set to false.

[strands-jenkins]

Can one of the STRANDS admins verify this patch? Post a comment containing "ok to test" to enable Jenkins builds for this pull request.

[hawesie]

ok to test

[marc-hanheide]

nice one @jmcjacob. @cdondrup did you test this on the robot? Also without the social nav?

[jmcjacob]

Yes it was all tested on the robot and work fine even without the social navigation layers.

[cdondrup]

For this to result in human_aware navigation, this needs the social navigation layers turned into a package. @marc-hanheide what do you think is the best way of achieving that? I'd say, forking it to strands and releasing it but I will talk to David first and ask him.

[marc-hanheide]

Yes, let's fork it and release it! Not even needed to wait for a response, I'd say.

[marc-hanheide]

sorry, @cdondrup, what's the status with this... do I need to do anything?

[cdondrup]

I will test all this again during this week and let you know. Thanks.

[cdondrup]

I kind of tested this on Linda but it was a bit hacky due to ICRA deadline and it seems to work nicely. Will do it again properly though.