bROS is a modular navigation stack built by Project MANAS. It is a complete replacement for the move_base package in ROS along with many performance improvements and addition of many features to ROS. bROS is targeted mainly at ROS 2 so that it is futureproof and inline with the latest new technologies. Compatibility with ROS 1 may be added later.
- CUDA accelerated RViz
- Planning
a. Move base
b. Planner (local, global)
c. Costmap
d. Grid
e. Recovery
f. Custom conditional behaviours
g. Localization
h. Mapping
i. Reactive navigation - Perception
a. Data fusion nodes - Revamp rqt
- Health monitor plugin
- Better debugging
- ML integration
- Bagfile to Pandas dataset or TF record
- Sensor management and calibration
- Sanity checks
- Auto tune ukf on bagfile
- Optional subscriptions
- Integration with OpenAI tools
- Dependency based launching (see systemd)