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Understanding ros 2 navigation stack, white papers and software architecture sketches would help

asked 2018-12-14 04:16:37 -0500

mann gravatar image

Hi,

I would like to understand the ROS 2 navigation stack and perhaps help in its development.

I am hoping if someone could suggest any white paper's/books on which it is based on. Also, Is there any documentation/sketches on the software architecture.

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answered 2018-12-14 08:43:50 -0500

gvdhoorn gravatar image

updated 2018-12-14 08:45:18 -0500

I would like to understand the ROS 2 navigation stack and perhaps help in its development.

The repository that you link to is not the "ROS 2 navigation stack" if I understand everything correctly. It seems to be a (quick) port of the "ROS 1 navigation stack" to use ROS 2 infrastructure (it was used as a demo/test case for the state of ROS 2 quite a few months ago).

As such, the design is probably relatively similar to how it was in ROS 1.

The effort to implement a proper ROS 2 based navigation stack may be found at: ros-planning/navigation2.

The design documentation (and other documentation) for that may be found at: ros-planning/navigation2/doc (NOTE: I'm using a permalink here. If you're clicking this link in the future, make sure to read an up-to-date version of the documentation, not this old one).

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Thank you, this is exactly what I was looking for

mann gravatar imagemann ( 2018-12-14 09:23:10 -0500 )edit

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Asked: 2018-12-14 04:16:37 -0500

Seen: 168 times

Last updated: Dec 14 '18