[ros-users] ND, VHF etc in ROS ?
gerkey at willowgarage.com
Sun May 1 20:06:23 UTC 2011
On Fri, Apr 29, 2011 at 11:53 PM, Arkapravo Bhaumik
<arkapravobhaumik at gmail.com> 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 ?
There's a flexible and nicely-featured navigation stack in ROS:
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:
There's a nicer implementation of DWA in dwa_local_planner:
A number of drivers from Player have been brought into ROS. Some
notes on how to do it are here:
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.
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