Characterize the navigation reliability - The Office Marathon 2 #929
Description
Objective
Characterizing and investigating the reliability and performance of ROS 2 Navigation Stack
Description
The Office Maraton [1] was used on ROS 1 Navigation stack in an indoor office environment. For Navigation 2, we also need to perform similar kind of experiments to obtain better insights on the reliability, performance, and practicality of our nav stack in a real-world environment.
The following tasks are needed before conducting the Marathon Experiment:
- Enabling Voxel Grid
- Enabling RealSense
- Improving Recovery Behaviors
[1] Marder-Eppstein, Eitan, et al. "The office marathon: Robust navigation in an indoor office environment." 2010 IEEE international conference on robotics and automation. IEEE, 2010.