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Flexible Navigation

Flexible Navigation is a rework of the ROS2 Navigation2 stack into independent modules that interface with FlexBE App and FlexBE Behavior Engine compatible state implementations.
These allow a user to graphically chain together states in a state machine to essentially create their own navigation stack to suit any need.

This allows for supervisory and sliding autonomy within navigation, and better control over contingencies and recovery behaviors.

About

This system provides specific navigation planning and path following capabilities based on the ROS2 Navigation2 [Nav2] packages and is compatible with any global_planner and local_planner plugin.

A ROS node wrapper for each plugin type provides several Nav2's simple action server interfaces to FlexBE App state implementations.

Install

Clone this repository to your ROS workspace.

rosdep update
rosdep install --from-paths src --ignore-src

This will install the necessary dependencies, primarily those associated with the ROS Navigation2 system. system.

Then, from the ROS workspace folder do the normal

colcon build

A complete demonstration setup for the system is provided at Turtlebot Flexible Navigation. Follow setup and operation directions there for an integrated demonstration.

The Turtlebot Flexible Navigation provides two demonstrations. The first uses a 2-level planner as a demonstration, where the global planner plans over the full map, and a local planner plans over smaller window.

An alternative demonstration uses a three layer planning scheme to demonstrate the flexibility of the decoupled approach.

The Flexible Navigation system has been tested using the latest version of ROS2 Foxy on Ubuntu 20.04. You should first follow the ROS2 Install Guide and get that set up before proceeding.

Publications

Please use the following publications for reference when using Flexible Navigation:

Further Publications for FlexBE

License

Copyright (c) 2016-2022
Capable Humanitarian Robotics and Intelligent Systems Lab (CHRISLab)
Christopher Newport University

All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

  1. Redistributions of source code must retain the above copyright notice,
     this list of conditions and the following disclaimer.

  2. Redistributions in binary form must reproduce the above copyright
     notice, this list of conditions and the following disclaimer in the
     documentation and/or other materials provided with the distribution.

  3. Neither the name of the copyright holder nor the names of its
     contributors may be used to endorse or promote products derived from
     this software without specific prior written permission.

     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
     "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
     LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
     FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
     COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
     INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
     BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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