ROS1 Nav Stack for robots

Tested with Kyon (+MPC) and CENTAURO.

Input: Nav Target as PostStamped Output: /cmd_vel [Twist]

Dependencies:

• sudo apt-get install ros-noetic-move-base
• sudo apt-get install ros-noetic-octomap-server
• sudo apt-get install ros-noetic-dwa-local-planner
• sudo apt-get install ros-noetic-ros-noetic-teb-local-planner

Config Folder

This folder contains the configuration files used by Nav Stack for centauro and kyon.

More specifically, the main params that may be modified are the following:

• costmap_common_params: contains frame information and footprint
• global_costmap_params: here there is the map_topic and the point clouds used to mark occupied/free areas
• local_costmap_params: same as for the global_costmap_params
• teb_local_planner and dwa_local_planner: are the config files related to the planner used at a local scale. Here info like min-max velocities, local footprint, tolerance are described.

Run

By running centuaro_nav.launch you will have:

• move_base with the Nav Stack framework (planners, costmaps)
• Octomap with dynamic occupancy grid or a staitc one loaded (specifying the one you want)