dddmr_navigation ROS2

Important

This repo contains all necessary packages as submodules (see src directory):

cd ~
git clone https://github.com/dddmobilerobot/dddmr_navigation.git
cd dddmr_navigation && git submodule init && git submodule update 

DDDMR navigation (3D Mobile Robot Navigation) is a navigation stack allows users to map, localize and autonomously navigate in 3D environments.

Detail

Below figure shows the comparison between 2D navigation stack and DDD(3D) navigation. Our stack is a total solution for a mobile platform to navigate in 3D environments. There are plenty advantages for choosing DDD navigation:

• The standard procedures of DDD mobile robots and 2D mobile robots are the same, make it easier for 2D navigation stack users to transit to DDD navigation without difficulties:
  1. Mapping and refined the map.
  2. Turn off mapping, use MCL to localize the robot by providing an initial pose.
  3. Provide a goal to the robot, the robot will calculate the global plan and avoid obstacles using local planner.
• DDD navigation is no longer suffered from terrain situations. For example, ramps in factories or wheelchair accessible.
• DDD navigation has been welled tested is many fields and is based on the cost-effective hardware, for example, 16 lines lidar, intel NUC/Jetson Orin Nano and consumer-grade imu. We are trying to make the solution as affordable as possible.

Demonstrations of DDD navigation functions

3D mapping	3D global planning
3D local planning	3D navigation
Obstacle avoidance (annoying test)	Auto docking

Robot platform

We have been intensively testing our navigation stack on the development platform and different outdoor areas. We also keep in mind that a cost-effective solution is our objective. Our platform is composed of:

• A lidar with 16 lines (Leishen C16)
• intel NUC i7 with 8 GB memory (Now we are testing on Nvidia Jetson Orin Nano)
• MPU 9250 IMU
• Intel Realsense D435
• AgileX Scout Mini - we have retrofitted Scout Mini Odometry with 3D odometry