19 lines
757 B
Markdown
19 lines
757 B
Markdown
Nav3 is our custom implementation of a navigation library. It is heavily inspired by [[ROS2 - NAV2 Library|NAV2]] which is a standard [[ROS2]] library.
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By heavily inspired I mean it is basically copied, and modified.
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# Differences
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## Costmap_3d
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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.
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Our own costmap_3d implementation uses a fruxel grid instead of voxels.
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## Planners
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Several planner plugins are missing for now.
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## Controllers
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Several controller plugins are missing for now.
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## Nav3_util
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- Added `calculate_linear_speed(Twist)` which is a central util function to calculate speed |