[FEAT]: Documentation for topological utils

[samuk]

Description

Following on from your AI review do you have a timeline for doing the topological_utils documentation?

I'm having a go with the AOC branch in this Agbot project but finding it a bit confusing currently.

If there are no immediate plans 'll interrogate the code a bit with a LLM to try to make sense of it, but some proper docs would be ideal

Additional Information

No response

[samuk]

Specifically it would be useful to know if the AOC_Refactor branch will target Jazzy as well as Humble? Or would we have to migrate it ourselves later? @ibrahimhroob @marc-hanheide

I see the current devcontainer is still building against Humble for example?

[marc-hanheide]

There's a big refactoring underway by @ibrahimhroob which is reaching maturity slowly, see #242

it will also then be working for recent LTS ros2 releases, and has also some improved tools in rviz to interact with the map.

We'll focus on that new version.

[ibrahimhroob]

Hi @samuk , we will be supporting Jazzy as well

[samuk]

Just FYI I'm having some success running the AOC branch in this repo https://github.com/Agroecology-Lab/feldfreund_devkit_ros/

It's got fields2cover for initial path planning and a webui for navigating nodes, in addition to Rviz and Gazebo.

Untested on real hardware as yet, but hope to get to that in a month or so.

[marc-hanheide]

cool, I'll make you aware of #242 a big refactoring (WIP) putting the framework onto a more manageable base.