Flexible Navigation is a rework of the ROS Navigation stack into independent modules that interface with FlexBE 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.
This system provides specific navigation planning and path following capabilities based on the ROS Navigation move_base packages and is compatible with any base_global_planner and base_local_planner plugin.
A ROS node wrapper for each plugin type provides several ActionLib interfaces to FlexBE state implementations.
A complete demonstration system is provided as part of the CHRISLab Turtlebot Flexible Navigation demonstration. Follow setup and operation directions there for an integrated demonstration. The complete system is easily setup and built by following the installation directions at CHRISLab Install.
The Turtlebot Flexible Navigation demonstration uses the SBPL lattice planner in a move_base like planning scheme. An alternative demonstration at Create Flexible Navigation 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 ROS Kinetic. You should first follow the ROS Install Guide and get that set up before proceeding.
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