We have released the plugin of MaxL controller for Nav2. MaxL is a motion primitive based controller. You can find the instructions on using it on this link.
The github repo of the plugin can be found here.
In ROS1 (with Mowito’s navigation stack), we have tested it on ROSbot, Turtlebot3 and 3 other custom robots. In ROS2, we have tested it on a simulation of Turtlebot.
We are currently working on benchmarking the time it takes for calculating the velocities. We will update the documentation based on your feedback.
- It directly subscribes to LiDAR scan and has an internal local costmap. Therefore even when the localization fails, or costmap is not updated, the robot will not hit the obstacle.
- Only available for differential drive ( not reverse motion)
- The binaries are only available for Ros2 Foxy and amd64 arch (will run on Intel based systems). In a couple of days, we will release it for arm64 arch too, so that you can try it out on Raspberry Pi and Jetson.
If you want to try it out on ROS1 (melodic, noetic), you can find the instructions here
Please try it out, and most importantly please give us your valuable feedback.