Navigation package without pcl

asked 2018-03-28 13:50:33 -0500

Stef_Boat
71 ●3 ●5 ●8

Hello

I am looking for a navigation package which I can use to plan and follow a path in a 2D-plane. Because I am using a Raspberry PI in combination with the Navio2 (emlid Raspian OS) and a RPLidar I am not able to use the PCL library(and is also not necessary because I only use a 2D-scan I think). The OS has also no GUI. Is there some way to change the navigation package in ros so that PCL is not required? Or are there also other packages available?

Kind regards, Stef

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answered 2018-03-28 16:59:01 -0500

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

updated 2018-08-27 10:29:36 -0500

Edit: ROS Melodic includes a PCL-free version of the ROS navigation stack!

Original Answer: Unfortunately, we haven't migrated away from PCL yet in the ROS navigation stack (there are open issues/pull requests around it, such as https://github.com/ros-planning/navig... ).

If you're feeling ambitious, there is a massive PR here: https://github.com/ros-planning/navig... that migrates kinetic-devel branch away from PCL, using the iterators. We've never gotten around to fully testing it. I am targeting to actually test/merge that for Melodic over the next several weeks, because it's way overdue.

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answered 2018-03-28 14:23:33 -0500

bpinaya

700 ●4 ●13 ●19 https://www.bpinaya.com/

Hi there Stef, regarding you question, what do you want to implement? Do you need a planner? You don't need PCL to use the navigation packages if you build it yourself, but to do so you need to define what you want from the navigation package, do you want planning? If you do just go into the repository and use one of the planners like:

Carrot planner (this is mentioned in the tutorials)
Local planner
Others ...

and many others. Usually, the planner will just take the occupancy grid, the costmap2D and the odometry of the robot. What PCL will do is build the occupancy grid of the environment.

If you want to build the navigation package yourself just download the repository, edit the CMakeList and the package.xml to edit out the PCL but make sure to remove the packages where it's being used!

All the best!!!

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costmap_2d depends on PCL

fergs ( 2018-03-28 16:54:45 -0500 )edit

Thanks for the answers! I think I gonna use a remote-pc to do the most calculation work(e.g. slam, navigation) to get the fastest results.

Stef_Boat ( 2018-03-30 14:08:16 -0500 )edit

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