Show EOL distros: 

navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: hydro-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: indigo-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: jade-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: kinetic-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: lunar)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: Michael Ferguson <mfergs7 AT gmail DOT com>, David V. Lu!! <davidvlu AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: melodic-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | rotate_recovery | voxel_grid

Package Summary

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

  • Maintainer status: maintained
  • Maintainer: Michael Ferguson <mfergs7 AT gmail DOT com>, David V. Lu!! <davidvlu AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: contradict@gmail.com, Eitan Marder-Eppstein
  • License: BSD,LGPL,LGPL (amcl)
  • Source: git https://github.com/ros-planning/navigation.git (branch: noetic-devel)

Available Translations: SimpleChinese

Vue d'ensemble

D'un point de vue conceptuel, la 'Navigation Stack' est plutôt simple. Elle utilise les informations produite par l'odométrie et autres capteurs pour produire une commande en vitesse qu'elle envoie à la base mobile. L'utilisation de la 'Navigation Stack' dans le cas d'un robot 'arbitraire' est cependant légèrement plus compliquée. Un prérequis pour la 'Navigation Stack' est l'utilisation de ROS, la disponibilité de d'un arbre de transformation tf, et la publication de données capteur utilisant le message ROS approprié Message types. Aussi, la 'Navigation Stack' nécessite d’être configuré en fonction de la forme et de la dynamique du robot, de façon à fonctionné à haut niveau. Ce manuel vise à servir de guide pour une la mise au point d'un configuration typique pour la 'Navigation Stack'.

Configuration matérielle

Bien que la pile de navigation soit conçue pour être aussi générale que possible, trois exigences matérielles principales limitent son utilisation:

  1. Elle n'est conçue que pour les robot de type "differential drive" ou holonome. Elle fait hypotheses que la base mobile est commandée en vitesse sous la forme vitesse x, vitesse y et vitesse thêta.
  2. Elle à besoin qu'un lidar laser planaire soit monté quelque part sur la base mobile. Ce lidar est utilisé pour construire la carte et pour se localiser.
  3. La 'Navigation Stack' fut développé pour un robot carré, elle est par consequent plus adapté a des robot qui sont proche d'une forme carrée ou circulaire. Elle fonctionne cependant avec des robot de taille est de forme arbitraire, bien qu'elle puisse avoir des difficultés avec de gran robot rectangulaire dans les espaces restraints comme les passages de porte.

Documentation

La documentation suivante The following documentation suppose que vous êtres familiarisé avec ROS. La documentaions sur ROS peut être trouvé ici: ROS Documentation

Reporter un Bug

Examples

Liste des robots utilisant la 'Navigation Stack'

Tutoriaux

Tutoriel basique de navigation avec ROS

  1. Setting up your robot using tf

    This tutorial provides a guide to set up your robot to start using tf.

  2. Basic Navigation Tuning Guide

    This guide seeks to give some standard advice on how to tune the ROS Navigation Stack on a robot. This guide is in no way comprehensive, but should give some insight into the process. I'd also encourage folks to make sure they've read the ROS Navigation Tutorial before this post as it gives a good overview on setting the navigation stack up on a robot wheras this guide just gives advice on the process.

  3. Setup and Configuration of the Navigation Stack on a Robot

    This tutorial provides step-by-step instructions for how to get the navigation stack running on a robot. Topics covered include: sending transforms using tf, publishing odometry information, publishing sensor data from a laser over ROS, and basic navigation stack configuration.

  4. Using rviz with the Navigation Stack

    This tutorial provides a guide to using rviz with the navigation stack to initialize the localization system, send goals to the robot, and view the many visualizations that the navigation stack publishes over ROS.

  5. Publishing Odometry Information over ROS

    This tutorial provides an example of publishing odometry information for the navigation stack. It covers both publishing the nav_msgs/Odometry message over ROS, and a transform from a "odom" coordinate frame to a "base_link" coordinate frame over tf.

  6. Publishing Sensor Streams Over ROS

    This tutorial provides examples of sending two types of sensor streams, sensor_msgs/LaserScan messages and sensor_msgs/PointCloud messages over ROS.

Tutoriel de navigation pour le Care-O-bot

  1. Using local navigation (navigation in the odometry frame)

    This tutorial shows you how to move the mobile base avoiding collisions and specifying navigation goals in the odometry frame.

  2. Using slam navigation (navigation with a online generated map)

    This tutorial shows you how to move the mobile base avoiding collisions and building up a map while moving the robot.

  3. Using global navigation (navigation with a predefined map)

    This tutorial shows you how to create a map and use it for moving the mobile base avoiding collisions and specifying navigation goals in the map frame.

Tutoriel de navigation pour le TurtleBot

  1. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  2. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  3. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

  4. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  5. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  6. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

Tutoriel de navigation pour le Husky

  1. Husky Move Base Demo

    Running Husky with a basic move_base setup, with no mapping or localization.

  2. Husky AMCL Demo

    Running Husky with a move_base setup, using amcl for localization.

  3. Husky Gmapping Demo

    Running Husky with a move_base setup, using gmapping for mapping and localization (SLAM).

  4. Husky Frontier Exploration Demo

    Running Husky with a move_base setup, using frontier_exploration for exploration planning, and gmapping for mapping and localization (SLAM).

  5. No Title

    No Description

Tutoriel de navigation pour le MRP2

  1. Navigate in Simulation

    This pagge describes awesome simulation

  2. Navigate with real robot

    This page describes navigation with real robot

  3. Explore surrounding areas and make a map

    Explore the real environment from robot's vision and save a map.

  4. Navigate with a known map

    Ramble in the known area with a previously saved a map

  5. Explore surrounding areas and make a map

    Explore the environment from robot's vision and save a map.

  6. Navigate with a known map

    Ramble in the known area with a previously saved a map.

Tutoriel de navigation pour evarobot

  1. Evarobot Exploration

    How to generate a SLAM map autonomously with Evarobot using frontier_exploration

  2. Autonomous Navigation of a Known Map with Evarobot

    How to navigate autonomously the Evarobot with known map.

  3. Navigation of the Evarobot in Gazebo

    How to navigate evarobot in Gazebo with a previously known map.

Tutoriel de navigation MRPT

  1. Installing

    Instructions to install and compile this package

Applications associée

Publications associées


Wiki: fr/navigation (last edited 2020-09-14 18:59:52 by FabriceLarribe)