[ros-users] [Discourse.ros.org] [General] Robot_navigation stack released
ros.discourse at gmail.com
Fri Dec 21 17:14:56 UTC 2018
@GuillermoUrcera There are not step-by-step tutorials yet, but I'm planning on putting some things together in the coming months.
@Rayman robot_navigation is a ROS1 navigation solution based on the original nav stack (which is also ROS1)
navigation2 is a ROS2 navigation solution based on both the original nav stack as well as the DWB local planner from robot_navigation.
As mentioned in the original post, I hope to get a ROS2 version of robot_navigation in the future.
Philosophically, one major difference between robot_navigation and navigation2 is how high level execution is coordinated. robot_navigation builds on the nav_core interfaces of the original nav stack with the nav_core2 interfaces and the coordination is done in locomotor. navigation2 uses [tasks](https://github.com/ros-planning/navigation2/tree/master/nav2_tasks) as a more general way of coordinating the path planning behaviors.
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