add humble-navigation2

2025-05-27 19:03:40 +08:00
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+
+# Target Use Cases
+The Nav2 system is targeting the following use cases:
+
+[2D Indoor Navigation](indoor_navigation_use_case.md) - example: Warehouse / Logistics robot
+
+2D Navigation with Elevation - example: rescue robot navigating building with ramps and stairways
+
+2D Navigation with Elevators - example: Room service robot
+
+[Outdoor Navigation](outdoor_navigation_use_case.md)
+
+## Stretch Target
+3D Navigation - Drones
+
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+# Use Case Title
+As a \<Developer, Researcher, Technician, etc.> I want the robot to \<action> so that \<I, the robot, etc.> can \<do something important>
+
+## More details
+- Why is this needed?
+- What is the expected user interaction? 
+- Are there any non-functional requirements? (build system, tools, performance, etc)
+
+# Example:
+
+# Collision Avoidance
+As a robot user, I want the robot to navigate without colliding into people or objects so that it doesn't hurt anyone or damage anything
+
+## More details
+ - Why is this needed?
+   - I want this so that I know the robot won't damage itself, damage property or hurt anyone
+   - Example: a logistics robot in a warehouse must avoid shelves, people, forklifts, and other robots
+ - What is the expected user interaction? 
+   - I shouldn't have to interact with the robot to prevent it from crashing into people or things
+- Are there any non-functional requirements? (build system, tools, performance, etc)
+   - The performance needs to be fast enough to avoid moving objects such as people walking or other moving robots
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+# Collision Avoidance
+As a Robot user I want to my robot to avoid colliding with people or objects so that it won't damage anything or hurt anyone
+
+## More details
+- Why is this needed?
+   - This is needed for indoor and outdoor robot navigation in most (all?) cases
+   - Example: a robot in a warehouse should avoid colliding into the walls or shelving, and dynamically avoid people that cross its path
+
+- What is the expected user interaction?
+   - The user should be able to walk in front of a robot and it should avoid crashing into that person
+
+- Are there any non-functional requirements? (build system, tools, performance, etc)
+
+
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+# Indoor Localization
+As a Robot user I want my robot to know its location on a given map of an indoor area so that it can move around the area
+
+## More details
+- Why is this needed?
+   - This is needed for indoor robot navigation in most (all?) cases
+   - Example: a courier robot in a logistics warehouse
+
+- What is the expected user interaction?
+   - The user should be able to specify a map to use and a location on that map for the robot
+   - The robot should be able to deduce it's own position on a map autonomously
+
+- Are there any non-functional requirements? (build system, tools, performance, etc)
+
+
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+# Indoor Navigation
+As a Robot user I want my robot to autonomously navigate to a given location on a given map so that it can help me at that location
+
+## More details
+- Why is this needed?
+   - This is needed for indoor robot navigation in most (all?) cases
+   - Example: a courier robot in a logistics warehouse
+
+- What is the expected user interaction?
+   - The user should be able to specify a map to use and a location on that map for the robot to move to. 
+
+- Are there any non-functional requirements? (build system, tools, performance, etc)
+
+
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+# Keep Out Zones
+As a Robot user I want to be able to designate keep-out zones or areas on a map so that my robot will go around those areas instead of through them 
+
+## More details
+- Why is this needed?
+   - This is needed for indoor/outdoor robot navigation in areas where there may be safety issues or hazards
+   - Example: a courier robot in a logistics warehouse may be required to avoid areas where the forklift is unloading pallets from trucks
+
+- What is the expected user interaction?
+   - The user should be able to specify keep out zones for the robot to avoid
+
+- Are there any non-functional requirements? (build system, tools, performance, etc)
+
+
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+# Multi-story Building Navigation (2D+)
+As a Robot user I want my robot to be able to navigate stairways, ramps or elevators to move to another portion of the multi-story building so that it can do something useful
+
+## More details
+- Why is this needed?
+   - Example: a delivery robot in an office building 
+
+- What is the expected user interaction?
+   - The user should be able to specify stairways, ramps and elevators on a map for a robot to use or not use
+     - via a GUI 
+     - via a config file or API so that it can be done by another program
+
+- Are there any non-functional requirements? (build system, tools, performance, etc)
+
+
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+# Outdoor Localization
+As a Robot user I want my robot to know its location on a given map of an outdoor area, such as a street or college campus, so that it can move around the area
+
+## More details
+- Why is this needed?
+   - This is needed for outdoor robot navigation in most (all?) cases
+   - Example: a delivery robot on a college campus
+
+- What is the expected user interaction?
+   - The user should be able to specify a map to use and a location on that map for the robot
+   - The robot should be able to deduce it's own position on a map autonomously
+
+- Are there any non-functional requirements? (build system, tools, performance, etc)
+
+
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+# Outdoor Navigation
+As a Robot user I want my robot to autonomously navigate to a given location on a given outdoor map, such as a college campus or street, so that it can do something useful at that location
+
+## More details
+- Why is this needed?
+   - This is needed for outdoor robot navigation in most (all?) cases
+   - Example: a delivery robot on a college campus
+
+- What is the expected user interaction?
+   - The user should be able to specify a map to use and a location on that map for the robot to move to. 
+
+- Are there any non-functional requirements? (build system, tools, performance, etc)
+
+