757 B
757 B
Nav3 is our custom implementation of a navigation library. It is heavily inspired by ROS2 - NAV2 Library 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