ros-nodes

Misc ROS nodes for mobile robot navigation.

vfh

VFH+ algorithm for obstacle avoidance implementation in ROS. Reference: Ulrich, I.; Borenstein, J., "VFH+: reliable obstacle avoidance for fast mobile robots," Robotics and Automation, 1998.

vfh_local_planner

VFH+ as a local planner for move_base.

multiple_goals_server

Node for waypoint-based navigation; sends multiple goals using actions.