DDDMR Navigation Stack is designed to solve the issues that Nav2 not able to handle: such as multi-layer floor mapping and localization, path planning in stereo structures and percption markings and clearings in a 3D point cloud map.
🤝 We would like to thank the contributors and users of Navigation and Navigation2, ddd navigation stands on your shoulder!
 Multilevel map |
 Obstacle avoidance on ramps |
 Navigating while mapping |
 Semantic segmentation and navigation (stay tuned🔥) |
DDDMR navigation (3D Mobile Robot Navigation) is a navigation stack allows users to map, localize and autonomously navigate in 3D environments.
Below figure shows the comparison between 2D navigation stack and DDD(3D) navigation. Our stack is a total solution for a mobile platform to navigate in 3D environments. There are plenty advantages for choosing DDD navigation:
✨ The standard procedures of DDD mobile robots and 2D mobile robots are the same, make it easier for 2D navigation stack users to transit to DDD navigation without difficulties:
- Mapping and refining the map using our packages and tools.
- Turn off mapping, use MCL to localize the robot by providing an initial pose.
- Send a goal to the robot, the robot will calculate the global plan and avoid obstacles using local planner.
✨ DDD navigation is no longer suffered from terrain situations. For example, ramps in factories or wheelchair accessible.
✨ DDD navigation has been well tested is many fields and is based on the cost-effective hardware, for example, 16 lines lidar, intel NUC/Jetson Orin Nano and consumer-grade imu. We are trying to make the solution as affordable as possible.
😵💫😵💫😵💫😵💫😵💫😵💫😵💫😵💫😵💫😵💫 I have a robot, but where to start?Click me to see the beginner's guide😵💫😵💫😵💫😵💫😵💫😵💫😵💫😵💫😵💫😵💫
💡 Click me to see Mapping
https://github.com/dfl-rlab/dddmr_navigation/tree/main/src/dddmr_lego_loam💡 Click me to see Localization
https://github.com/dfl-rlab/dddmr_navigation/tree/main/src/dddmr_mcl_3dl💡 Click me to see Perception
https://github.com/dfl-rlab/dddmr_navigation/tree/main/src/dddmr_perception_3d💡 Click me to see Global planner
https://github.com/dfl-rlab/dddmr_navigation/tree/main/src/dddmr_global_planner💡 Click me to see Local planner
https://github.com/dfl-rlab/dddmr_navigation/tree/main/src/dddmr_local_planner💡 Click me to see Move base
https://github.com/dfl-rlab/dddmr_navigation/tree/main/src/dddmr_p2p_move_base 3D mapping |
 3D global planning |
 3D local planning |
 3D navigation |
 Support vairant sensors (Unitree G4) |
 Support vairant sensors (Depth Camera) |