ROS

nav2

TODO: look into this, vs slam_toolbox. And how all of this fits into Mobile Robot.

To install

sudo apt install ros-$ROS_DISTRO-navigation2

They have a version to do localization AMCL.

Also, it seems from talking to Steve Macenski that this is made for people who have industrial robots. Not as much hobbyist.

You should check out the https://navigation.ros.org/concepts/index.html This is the official navigation stack for ROS.

Seems pretty important to know, especially if I want to build a self-driving bed!! First used this at Enlighted and got pretty good at it.

Tuning guide

• https://navigation.ros.org/tuning/index.html

https://automaticaddison.com/the-ultimate-guide-to-the-ros-2-navigation-stack/

Navigation

ros2 launch nav2_bringup navigation_launch.py

Concepts

• Behavior Tree

Planners

• NavFn planner (legacy), https://github.com/ros-planning/navigation2/tree/main/nav2_navfn_planner
• Smac Planner

Controllers

• DWB Controller