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Localization vs Navigation

asked 2016-07-20 22:16:13 -0500

Raisintoe gravatar image

I am learning ROS for my first time, and I am confused about the difference between localization and navigation. As I understand it, amcl is the package used for localization, but then the navigation stack is a separate package. I am having a hard time seeing the difference between the two, because it seems the nav_stack is performing localization tasks; I do not see the need for localization. Is it possible to run a robot only using the nav_stack with sensors and actuators; without using any sort of localization?

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answered 2016-07-21 01:22:56 -0500

cagatay gravatar image

updated 2016-07-21 07:29:02 -0500

Broadly speaking, Navigation Stack of ROS involves the folllowings

1) Localization 2) Collision Avoidance 3) Trajectory Planning

Localization involves one question: Where is the robot now? or where am I, keeping in mind that "here" is relative to some landmark.

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And then navigation is how do I get somewhere else (preferably without hitting things along the way).

gvdhoorn gravatar image gvdhoorn  ( 2016-07-21 03:02:19 -0500 )edit

also exploring and mapping the enviroment that robot is operating

cagatay gravatar image cagatay  ( 2016-07-21 03:45:06 -0500 )edit

I guess this could be subjective, but I'm not sure navigation includes all that. I can navigate quite well without making a map at the same time, provided I already have one, which is certainly possible.

gvdhoorn gravatar image gvdhoorn  ( 2016-07-21 04:13:53 -0500 )edit

I am referring to nav_stack of ros

cagatay gravatar image cagatay  ( 2016-07-21 05:47:02 -0500 )edit

Ah ok, I understood your comment to be about the concept of navigation in general.

gvdhoorn gravatar image gvdhoorn  ( 2016-07-21 06:04:12 -0500 )edit

I edited my response regarding to ROS, yeah it may be subjective but generally speaking, the navigation concept can be extended to involve mapping and exploration

cagatay gravatar image cagatay  ( 2016-07-21 07:31:06 -0500 )edit

Cagatay, thank you for the response. So when talking about navigation, there are a number of packages I need to consider. What are they? Or what are the main parts that make up navigation? So far I have been reading about amcl for mapping, and the nav_stack. Also tf is helpful.

Raisintoe gravatar image Raisintoe  ( 2016-07-22 12:55:53 -0500 )edit

you can start with reading the tutorials here

cagatay gravatar image cagatay  ( 2016-07-25 01:06:31 -0500 )edit

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Asked: 2016-07-20 22:16:13 -0500

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Last updated: Jul 21 '16