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What is the difference between NAV2D package and ros navigaton stack

asked 2019-10-25 06:18:41 -0600

wintermute gravatar image

Hello,

Apart from the obvious difference of nav2d being for a planar environment, what is the main difference between nav2d and navigation package.

Currently I have odometry and robot_pose_ekf fusing odom data with imu data giving me robot pose. On top of it i am planning to use the nav stack. As a learner, should I go ahead and play with navigation stack or just use the nav2d stack.

Best Regards, Can

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As nav2d mentions, it is meant to navigate in a planar (2D) environment, while nav_stack will take into account height as well.

Choco93 gravatar imageChoco93 ( 2019-10-25 07:36:32 -0600 )edit

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answered 2019-10-28 03:27:29 -0600

Sebastian Kasperski gravatar image

The goal when creating the nav2d stack was to have a simpler, easier-to-access solution to basic robot navigation tasks. So I would indeed recommend it to beginners as well. It depends of course on the type of robot and the task you need to solve as well. Nav2d assumes a more or less circular robot that can turn in place (e.g. TurtleBot). It has no advanced trajectory planning, instead it combines a simple trajectory-following with obstacle avoidance. The used map-type is a simple 2D occupancy grid.

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answered 2019-10-25 07:28:34 -0600

Mbuijs gravatar image

AFAIK the navigation stack is much more popular in the community than the nav2d stack, giving a major benefit for someone who's getting started, since there are more questions asked and answered about it here and more tutorials available on the wiki (and other places).

This does not mean that the navigation stack would be the best solution for a problem you're trying to solve, but when learning I would always choose the most popular option.

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Asked: 2019-10-25 06:18:41 -0600

Seen: 33 times

Last updated: Oct 28