论文标题
马拉松2：导航系统
The Marathon 2: A Navigation System
论文作者
论文摘要
移动机器人导航的发展使机器人能够在仓库，零售店和行人周围的人行道上运营。已经提出了各种导航解决方案，尽管很少有人像ROS导航一样采用。十年后，它仍然是最受欢迎的导航解决方案之一。然而，ROS导航未能跟上现代趋势。我们提出了新的导航解决方案Navigation2，该解决方案基于ROS导航的成功遗产。 Navigation2使用行为树进行导航任务编排，并采用专为适用于多种现代传感器的动态环境而设计的新方法。它建立在ROS2之上，ROS2的顶部是一个安全的消息传递框架，适合安全关键应用程序和计划生命周期管理。我们在校园内提出了实验，利用Navigation2在马拉松比赛中与学生一起安全地运作，以作为Eppstein等人提出的实验的扩展。 Navigation2系统可在https://github.com/ros-planning/navigation2上免费获得，并带有丰富的社区和说明。
Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted as ROS Navigation. 10 years on, it is still one of the most popular navigation solutions. Yet, ROS Navigation has failed to keep up with modern trends. We propose the new navigation solution, Navigation2, which builds on the successful legacy of ROS Navigation. Navigation2 uses a behavior tree for navigator task orchestration and employs new methods designed for dynamic environments applicable to a wider variety of modern sensors. It is built on top of ROS2, a secure message passing framework suitable for safety critical applications and program lifecycle management. We present experiments in a campus setting utilizing Navigation2 to operate safely alongside students over a marathon as an extension of the experiment proposed in Eppstein et al. The Navigation2 system is freely available at https://github.com/ros-planning/navigation2 with a rich community and instructions.
