The ros-planning/navigation repository is a collection of packages for robot navigation in ROS (Robot Operating System). It provides tools for path planning, obstacle avoidance, and localization, enabling autonomous navigation for mobile robots in various environments.

Pros

• Comprehensive suite of navigation tools and algorithms
• Well-integrated with ROS ecosystem
• Actively maintained and widely used in robotics community
• Supports various robot configurations and sensor types

Cons

• Can be complex to set up and configure for specific robot platforms
• Performance may vary depending on the quality of sensor data and map accuracy
• Some packages may have dependencies on older ROS versions
• Limited support for dynamic environments and multi-robot scenarios

Code Examples

1. Setting up a basic move_base action client:

import rospy
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
import actionlib

def move_to_goal(x, y, w):
    client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
    client.wait_for_server()

    goal = MoveBaseGoal()
    goal.target_pose.header.frame_id = "map"
    goal.target_pose.header.stamp = rospy.Time.now()
    goal.target_pose.pose.position.x = x
    goal.target_pose.pose.position.y = y
    goal.target_pose.pose.orientation.w = w

    client.send_goal(goal)
    client.wait_for_result()

    return client.get_state()

2. Subscribing to odometry data:

import rospy
from nav_msgs.msg import Odometry

def odometry_callback(msg):
    position = msg.pose.pose.position
    orientation = msg.pose.pose.orientation
    print(f"Position: ({position.x}, {position.y}, {position.z})")
    print(f"Orientation: ({orientation.x}, {orientation.y}, {orientation.z}, {orientation.w})")

rospy.init_node('odometry_subscriber')
rospy.Subscriber('/odom', Odometry, odometry_callback)
rospy.spin()

3. Setting costmap parameters:

import rospy

rospy.set_param('/move_base/global_costmap/inflation_radius', 0.55)
rospy.set_param('/move_base/local_costmap/inflation_radius', 0.55)
rospy.set_param('/move_base/global_costmap/obstacle_layer/observation_sources', 'scan')
rospy.set_param('/move_base/local_costmap/obstacle_layer/observation_sources', 'scan')

Getting Started

1. Install ROS and create a catkin workspace
2. Clone the navigation stack:

   cd ~/catkin_ws/src
   git clone https://github.com/ros-planning/navigation.git
   

3. Install dependencies:

   rosdep install --from-paths src --ignore-src -r -y
   

4. Build the workspace:

   cd ~/catkin_ws
   catkin_make
   

5. Source the setup file:

   source devel/setup.bash
   

6. Launch the navigation stack (example for TurtleBot):

   roslaunch turtlebot_navigation amcl_demo.launch