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What is the difference between NAV2D package and ros navigaton stack

asked 2019-10-25 06:18:41 -0500

wintermute gravatar image


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 image Choco93  ( 2019-10-25 07:36:32 -0500 )edit

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answered 2019-10-28 03:27:29 -0500

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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I totally agree with Sebastian, who is both the author and the maintainer of the package, that Nav2D could be a good option for beginners like me. I have started tutorials on ROS Navigation but then I am lost before getting into the point of implementation. Then, I came across Nav2D, which seems to be more straightforward to use on a custom-built robot for novices. In my view, this could also be a complementary tutorial for costmap usage.

asaglam gravatar image asaglam  ( 2021-05-24 20:34:11 -0500 )edit

answered 2019-10-25 07:28:34 -0500

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 -0500

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Last updated: Oct 28 '19