Fix/post migration fixes ros2

README.md

@@ -1,4 +1,4 @@
-This is the active ROS2 branch of this repository. If your are looking for the ROS1 version, checkout the [noetic branch](https://github.com/naturerobots/move_base_flex/tree/noetic).
+This is the active ROS2 branch of this repository. If your are looking for the ROS1 version, checkout the [noetic](https://github.com/naturerobots/move_base_flex/tree/noetic) or [master](https://github.com/naturerobots/move_base_flex/tree/master) branches.
 
 # Move Base Flex: A Highly Flexible Navigation Framework:
 
@@ -13,6 +13,23 @@ This repository contains Move Base Flex (MBF), a backwards-compatible replacemen
 
 Please see also the [Move Base Flex Documentation and Tutorials](https://wiki.ros.org/move_base_flex) in the ROS wiki. And [this repository](https://github.com/Rayman/turtlebot3_mbf) contains a working minimal configuration for a turtlebot 3.
 
+## Announcements / News
+### 16.10.2024 First ROS2 Version of Move Base Flex
+The first working ROS2 version of Move Base Flex has been published.
+It targets the ROS2 distro `humble` and includes most components you know from ROS1:
+- mbf_abstract_core & mbf_abstract_nav
+- mbf_simple_core & mbf_simple_nav (for navigation components that need no map representation)
+- mbf_utility
+- mbf_msgs
+
+The ROS2 version comes with an additional package that helps with integration tests:
+- mbf_test_utility (only a test dependency)
+
+The two packages are not yet migrated yet:
+- mbf_costmap_core & mbf_costmap_nav (for navigation components that utilize a 2D costmap)
+
+Note that [mesh_navigation](https://github.com/naturerobots/mesh_navigation) is also available for ROS2, now. It provides navigation components that utilize 3D mesh maps.
+
 ## Concepts & Architecture
 
 We have created Move Base Flex for a larger target group besides the standard developers and users of move_base and 2D navigation based on costmaps, as well as addressed move_base's limitations. Since robot navigation can be separated into planning and controlling in many cases, even for outdoor scenarios without the benefits of flat terrain, we designed MBF based on abstract planner-, controller- and recovery behavior-execution classes. To accomplish this goal, we created abstract base classes for the nav core BaseLocalPlanner, BaseGlobalPlanner and RecoveryBehavior plugin interfaces, extending the API to provide a richer and more expressive interface without breaking the current move_base plugin API. The new abstract interfaces allow plugins to return valuable information in each execution cycle, e.g. why a valid plan or a velocity command could not be computed. This information is then passed to the external executive logic through MBF planning, navigation or recovering actions’ feedback and result. The planner, controller and recovery behavior execution is implemented in the abstract execution classes without binding the software implementation to 2D costmaps. In our framework, MoveBase is just a particular implementation of a navigation system: its execution classes implement the abstract ones, bind the system to the costmaps. Thereby, the system can easily be used for other approaches, e.g. navigation on meshes or 3D occupancy grid maps. However, we provide a SimpleNavigationServer class without a binding to costmaps.
@@ -28,12 +45,21 @@ MBF is an ongoing project. Some of the improvements that we have planned for the
 * Add Ackermann steering API
 * Multi Goal API + Action
 * Add new navigation server and core packages using [grid_map](https://wiki.ros.org/grid_map).
-* Constraints-based goal (see issue https://github.com/magazino/move_base_flex/issues/8)
+* Constraints-based goal (see issue https://github.com/nature_robots/move_base_flex/issues/8)
 
 But, of course you are welcome to propose new fancy features and help make them a reality! Pull Requests are always welcome!
 
+## Credit
+
+### [<img width="25" height="25" src="doc/images/logos/magazino_icon.png"> Magazino](https://www.magazino.eu/) 
+Move Base Flex was initially developed at Magazino.
+
+### [<img width="25" height="25" src="doc/images/logos/nature_robots_icon.jpg"> Nature Robots](https://naturerobots.com/)
+The latest version (ROS2) is developed and maintained by Nature Robots.
+
 ## Build Status
 
 | ROS Distro  | GitHub CI | Develop | Documentation | Source Deb | Binary Deb |
 |-------------|-----------|---------|---------------|------------|------------|
-| **Humble**  |   TODO    |  TODO   |    TODO       |    TODO    |   TODO     |
+| **Humble**  | [![Humble CI](https://github.com/naturerobots/move_base_flex/actions/workflows/humble.yaml/badge.svg?branch=humble)](https://github.com/naturerobots/move_base_flex/actions/workflows/humble.yaml) |  TODO   |    TODO       |    TODO    |   TODO     |
+| **Noetic**  | [![Noetic CI](https://github.com/nature_robots/move_base_flex/workflows/Noetic%20CI/badge.svg)](https://github.com/nature_robots/move_base_flex/actions?query=workflow%3A%22Noetic+CI%22) | [![Build Dev Status](http://build.ros.org/buildStatus/icon?job=Ndev__move_base_flex__ubuntu_focal_amd64)](http://build.ros.org/job/Ndev__move_base_flex__ubuntu_focal_amd64) | [![Build Doc Status](http://build.ros.org/buildStatus/icon?job=Ndoc__move_base_flex__ubuntu_focal_amd64)](http://build.ros.org/job/Ndoc__move_base_flex__ubuntu_focal_amd64) | [![Build Src Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__move_base_flex__ubuntu_focal__source)](http://build.ros.org/job/Nsrc_uF__move_base_flex__ubuntu_focal__source) | [![Build Bin Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__move_base_flex__ubuntu_focal_amd64__binary)](http://build.ros.org/job/Nbin_uF64__move_base_flex__ubuntu_focal_amd64__binary) |