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…unctionality and usage
- Introduced a comprehensive flow report detailing the system interaction diagram, node responsibilities, function-call flow, suggested refactor plan, and short-term fixes for the topological navigation system in ROS 2. - Included mermaid diagram for visual representation of system interactions. - Documented responsibilities and key files for each node involved in the navigation process. - Outlined a phased approach for refactoring to improve code structure and maintainability. - Suggested immediate fixes to enhance system reliability and consistency.
- Moved CustomSafeLoader to map_types.py for reuse across multiple scripts. - Introduced type-safe data classes (TopologicalPose, TopologicalEdge, TopologicalNode, TopologicalMap) to improve map handling. - Updated scripts to utilize the new CustomSafeLoader and data classes, enhancing code clarity and maintainability.
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…unctionality and usage
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