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Claudio Fritsche
2025-02-05 14:38:07 +01:00
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Nav3 is our custom implementation of a navigation library. It is heavily inspired by [[ROS2 - NAV2 Library|NAV2]] which is a standard [[ROS2]] library.
By heavily inspired I mean it is basically copied, and modified.
# Differences
## Costmap_3d
The `nav3_costmap_3d` package is completely rewritten. The only similarity to the original `nav2_costmap_2d` package is that we're using the same API to remain compatible with the rest of the `nav2` library.
Our own costmap_3d implementation uses a fruxel grid instead of voxels.
## Planners
Several planner plugins are missing for now.
## Controllers
Several controller plugins are missing for now.
## Nav3_util
- Added `calculate_linear_speed(Twist)` which is a central util function to calculate speed