roscon_demos.md

• Nav2 Testing w/ DWB-NAVFN Planner Combination (Tuned for Omni-Motion Model)

  • Bot X-Motion (linear_motion)

    

  • Bot Y-Motion (strafe_motion)

    

  • Bot Holonomic-Motion

    

• Dynamic Obstacle avoidance w/ DWB local controller/planner

  • senario-1 (static obstacles mapped)

    

  • senario-2 (unmmaped static obstacles)

    

  • senario-3 (just one unmapped dynamic obstacle)

    

• Dynamic Obstacle avoidance w/ MPPI local controller/planner

The environment used for this simulation was a modified version of a small warehouse asset preset in the NVIDIA Omniverse Database. Few changes were made to the environment to make it suitable for our purpose. (pic given below)

• senario-1 (static obstacles mapped)

  

• senario-2 (unmmaped static obstacles)

  

• senario-3 (just one unmapped dynamic obstacle)

  

• senario-4 (more unmapped moving obstacles) download video here