Navigation

[lukicdarkoo]

Navigation allows planning trajectory while avoiding dynamic and static obstacles.

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High-level tasks:

• Follow up with the Simulation #2 roadmap to do a basic Navigation2 integration
• Follow up with the Low-level Control #5 roadmap to perform tests with the physical robot
• Calibrate. Calibrate max velocity, acceleration, jerk, cost maps, robot radius...
• Add safe zones. In some cases, it is safe (and necessary) to turn off the obstacle avoidance

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Resources:

• Talk with one of the main contributors of the Navigation2 package: https://www.youtube.com/watch?v=CBqJgaSoNGg
• Paper about the Navigation2 package (check Fig. 2): https://arxiv.org/pdf/2003.00368.pdf