The functions of the ROS navigation package are summarized

1, Voxel_grid: Not used

voxel_grid provides an  implementation of an efficient 3d voxel grid. the occupancy  grid can support 3 different representations for the state  Of a cell: marked, free, or unknown. due to the underlying  implementation relying on bitwise and and or integer operations,  the voxel grid only supports 16 different levels per voxel  column. However, this limitation yields raytracing and cell  marking performance in the grid comparable to standard 2d  Structures making it quite fast compared to most 3d structures.

2, Rotate_recovery: Not used

A recovery behavior that performs a degree in-place rotation to attempt to clear out space.

3, ROBOT_POSE_EKF: to use

The Robot Pose EKF package was used to estimate the 3D Pose of a Robot, based on (partial) Pose measurements coming from di Fferent sources. It uses a extended Kalman filter with a 6D model (3D position and 3D orientation) to combine measurements from wheel Odom Etry, IMU Sensor and visual odometry. The basic idea was to offer loosely coupled integration with different sensors, where sensor signals are received as ROS me Ssages.

4, Navigation: Total Package

5. NAVFN: Navigation function

navfn provides a fast  interpolated navigation function that can be used to create  plans for a mobile base. the planner assumes a circular  robot and operates on a costmap to find a minimum cost  plan from a start point to an end point in a grid .  the navigation function is computed with dijkstra ' s algorithm,  but support for an a* heuristic may also be added in  The near future. navfn also provides a ros wrapper for the  navfn planner that adheres to the

Nav_core::baseglobalplanner interface specified in

6, Nav_core:

This is provides common interfaces for navigation specific robot actions. Currently, this package provides the Baseglobalplanner, Baselocalplanner, and Recoverybehavior interfaces, which can is us Ed to build actions the can easily swap their planner, local controller, or recovery behavior for new versions adhering T o the same interface.

7, Move_slow_and_clear

8, Move_base_msgs

Holds the action description and relevant messages for the Move_base package

9, Move_base:

the move_base package provides an implementation of an action  ( see the <a href= "Http://www.ros.org/wiki/actionlib" >actionlib</a> package)  that, given a goal in the world, will attempt to reach  it with a mobile base. the move_base node links together  a global and local planner to accomplish its global  Navigation task. it supports any global planner adhering to the  nav_core::baseglobalplanner interface specified in the <a href= "/http Www.ros.org/wiki/nav_core ">nav_core</a> package and any local planner  adhering to the nav_core::baselocalplanner interface specified in the  <a href= "HTTP://WWW.ROs.org/wiki/nav_core ">nav_core</a> package. The move_base node also  maintains two costmaps, one for the global planner, and one  for a local planner  (see the <a href= "http://www.ros.org/wiki/costmap_2d ">costmap_2d</a> package)  that are used to accomplish navigation  tasks.

10, Map_server:

Map_server provides the <tt>map_server</tt> ROS <a href= "Http://www.ros.org/wiki/Nodes" >node</a which offers map data as a ROS <a href= "Http://www.ros.org/wiki/Services" >SERVICE</A>. It also provides the <tt>map_saver</tt> command-line utility, which allows dynamically generated maps to be SA ved to file.

11, Global_planner:

A Path Planner Library and node.

12, Fake_localization: pure mileage location

A ROS node that simply forwards odometry information

13. DWA_LOCAL_PLANNER:DWA Algorithm Package

this package provides  an implementation of the Dynamic Window Approach to local  Robot navigation on a plane. given a global plan to follow  and a costmap, the local planner produces velocity commands  to send to a mobile base. This package supports any  Robot who ' S footprint can be represented as a convex polygon  or cicrle, and exposes its configuration as ros parameters

That can is set in a launch file. The parameters for this planner is also dynamically reconfigurable. This package ' s ROS wrapper adheres to the Baselocalplanner interface specified in the <a href= "Http://wiki.ros.org/nav _core ">nav_core</a> package.

14, costmap_2d: Important

 this package  provides an implementation of a 2d costmap that takes in  Sensor data from the world, builds a 2d or 3d occupancy  grid of the data  (depending on whether a voxel based  implementation is used), and inflates costs in a 2d costmap  based on the occupancy grid and a user specified inflation  radius. this package also provides support for map_server based  initialization of a costmap, rolling window based costmaps, and  Parameter based subscription to

and configuration of sensor topics.

15, Clear_costmap_recovery:

This package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps Used by the navigation stack to the static map outside of a given area.

16, Carrot_planner:

This planner attempts to find a legal place to put a carrot for the robot to follow. It does the moving back along the vector between the robot and the goal point.

17, Base_local_planner: Important

&NBSP;

This package provides implementations of the trajectory rollout and  Dynamic Window approaches to local robot navigation on a  Plane. given a plan to follow and a costmap, the controller  produces velocity commands to send to a mobile base. this  package supports both holonomic and non-holonomic robots, any  robot footprint that can be represented as a convex polygon  Or circle, and exposes its configuration as ros parameters that  can be set in a launch file. this package ' s ROS  Wrapper adheres to the baselocalplanner interface specified in the  <a href= "Http://wiKi.ros.org/nav_core ">nav_core</a> package. 

18, AMCL:

AMCL is a probabilistic localization system for a robot moving in 2D. It implements the adaptive (or kld-sampling) Monte Carlo localization approach (as described by Dieter Fox), which uses a

Particle filter to track the pose of a robot against a known map.

ROS Navigation Pack features summary