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sea-bass / turtlebot3_behavior_demos

Example repository for autonomous behaviors using TurtleBot3, as well as Docker workflows in ROS based projects.
MIT License
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Why not use the Nav2 framework? #46

Closed jwdinius closed 4 months ago

jwdinius commented 4 months ago

It looks like you've implemented behavior trees as your main goal manager, which is remarkably similar conceptually to what Nav2 does (as your blog post mentions). Why did you set up your simulation using BTs natively instead of integrating directly with the Nav2 framework? Is there a particular feature lacking in Nav2 that you needed for your demonstration?

sea-bass commented 4 months ago

No, Nav2 is almost surely better featured than this. This is an educational repo meant to focus on writing BT code for some black box action (in this case, it's navigation hence the overlap). And of course, it has both C++ and Python examples which is a bit different from Nav2.

jwdinius commented 4 months ago

Perfect. Thanks for the explanation.