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180 Stars 118 Forks 281 Commits 3 Opened issues


Experimental navigation techniques for ROS robots.

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A collection of navigation plugins and tools: Various recovery behaviors, local and global planner plugins for movebase, a teleop filter for obstacle avoidance, and a simple control-based movebase replacement.

The most useful package in this repo is sbpllatticeplanner, a global planner plugin for move_base that wraps the SBPL library to produce kinematically feasible paths.

Each package in this repo has its own README file:

ROS wiki page:

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