Pathy, the ROS package that runs padnet, consists of 7 nodes:


Fig. 16 Nodes in the Pathy package#



During development and testing we manually started all nodes using:

ros2 run pathy <name-of-node>

In Byobu, a terminal multiplexer, this looks something like this:


Fig. 17 Running pathy nodes in development#

This would probably be a bit of a hassle in production. ROS 2 of course has a more elegant way of launching nodes . This is a possible improvement.


Currently, all node arguments are hardcoded. This isn’t great. ROS 2 again has more elegant way of handling this (e.g. using parameter files ). This is a possible improvement.