Navigation

Install

if using jackal robot in gazebo

git clone git@gitlab.geometryrobot.com:learning/rl/navigation.git --branch barn_challenge

else

git clone git@gitlab.geometryrobot.com:learning/rl/navigation.git --branch noetic-devel

Usage

• the launch file are all included in isaac sim repository
• notice that a simple move base was added into move_base package
• the modification compared with ROS stack focuses on global planner

Reference

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

Related stacks:

• http://github.com/ros-planning/navigation_msgs (new in Jade+)
• http://github.com/ros-planning/navigation_tutorials
• http://github.com/ros-planning/navigation_experimental

For discussion, please check out the https://groups.google.com/group/ros-sig-navigation mailing list.