tl;dr: Check out https://github.com/locusrobotics/robot_navigation
- The new
- The DWB Local Planner (introduced last year)
- The Dlux Global Planner
- Locomotor - the path planning coordination engine to replace
- Backwards compatible adapters for
The overall goal of the stack is to create a new revision of the “classic” navigation stack but with cleaner interfaces to make it easier for developers to create custom 2.5D navigation algorithms that fit their individual contexts.
Additional things that I’m proud of:
- The mathematical explanation of the dark magic numbers in navfn
- Finally understanding the move_base state machine
- Modular grid iterator library
- Documenting the peculiarities of how OccupancyGrid is used
In the near future (for some definition of near), we’ll be releasing new refactored packages implementing the layered costmap and map server, at which point we’ll be able to explore converting the whole stack to ROS2.
Source is available here: https://github.com/locusrobotics/robot_navigation
Binaries will be available for Indigo, Kinetic, Lunar and Melodic with the next syncs.
The main documentation is in Github READMEs, but you can also check out the wiki and Code API