[ros-users] How Many Robots use ROS Navigation?

Kyle Kauffman kyle.j.kauffman at gmail.com
Fri Sep 6 00:22:22 UTC 2013


I'm glad to hear there is some interest and work going on with the ROS
navigation components. We decided to build our own internal nav package due
to a few things not being available at the time we looked:

1) Flexibility in bringing in measurements in different ways (loose
integration, tightly coupled,...). For example, camera measurements can be
brought in to a filter via PnP, raw non-linear angle measurements, as a
velocity update (odometry), and so forth, each with their own advantages.
We wanted a way to generically specify the sensors and then have the filter
bring the measurements in via a configurable option.

2) Easy plug-and-play sensor swapping. For example, being able to add in an
inertial to an already existing lidar/camera navigation filter and have the
filter automatically convert itself to an error-state model with respect to
the inertial; ideally, without having to change any filter code (only bring
a new ROS sensor node online).

3) The ability to apply to quadrotors and other 6dof applications.

4) Capability to swap filter implementations, such as particle filters and
GPU computation backends.

I'm hopeful in the future we'll be able to release our nav package. At that
point I'd love to see what could be integrated into the ROS nav stack as it
progresses as well.

Kyle J. Kauffman

On Wed, Sep 4, 2013 at 4:04 PM, David Lu!! <davidvlu at gmail.com> wrote:

> Hey all,
> As many people know, I've been working on improvements to the ROS
> Navigation Stack. In order to maintain maximum compatibility (and for
> my own curiosity), I want to find out how many robots are using the
> ROS Navigation stack. I've set up a wiki page here for people to add
> their own robots to.
> http://wiki.ros.org/navigation/RobotsUsingNavStack
> (Feel free to add to the list even if your robot's navigation
> configuration is not public)
> Consequently, if you are using navigation on your robot and not using
> ROS Navigation, I'd be curious to hear why.
> Happy roboting,
> -David!!
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> http://lists.ros.org/mailman/listinfo/ros-users
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