A ROS-free navigation stack for commercial robot.
This repo is an attempt to develop a light-weight navigation stack for cleaning robot without using ROS.
Some components are borrowed from other open-sourced repositories, including
- hsm (https://github.com/amaiorano/hsm)
- ipopt (for mpc controller) (https://github.com/coin-or/Ipopt)
- teb planner (for local planning) (http://wiki.ros.org/teb_local_planner)
- local cost map (http://wiki.ros.org/local_map)
- Boustrophedon Method from the ipa_room_exploration package (http://wiki.ros.org/ipa_room_exploration)
This project is still work in progress.