On Fri, Apr 29, 2011 at 11:53 PM, Arkapravo Bhaumik wrote: > My question, Player Project (Player Stage in particular) which supported > popular navigation algorithms (viz. VFH, ND, line/wall following, SND etc), > are these available in ROS ? hi Arkapravo, There's a flexible and nicely-featured navigation stack in ROS: http://www.ros.org/wiki/navigation It provides the pieces necessary to make a planar robot navigate, with or without a map. I haven't seen an implementation of VFH (in this context, Vector Field Histogram; not to be confused with Viewpoint Feature Histogram) in ROS. Same for ND and SND. But unless you're looking for those algorithms specifically, you should have a look at the base_local_planner, which implements the Trajectory Rollout and DWA algorithms for local goal-seeking obstacle avoidance: http://www.ros.org/wiki/base_local_planner There's a nicer implementation of DWA in dwa_local_planner: http://www.ros.org/wiki/dwa_local_planner A number of drivers from Player have been brought into ROS. Some notes on how to do it are here: http://www.ros.org/wiki/ROS/PlayerIntegration I would expect the ND driver to be easily ported from Player to ROS, because underneath it's a standalone library. Porting VFH would be unpleasant, because the implementation is very Player-specific. I'm not familiar enough with SND to say how much work it would be. brian.