Comparative Benchmarking of SLAM, Global Path Planning and Local Planning Capabilities of ROS and ROS2 Navigation Frameworks

Comparative Benchmarking of SLAM, Global Path Planning and Local Planning Capabilities of ROS and ROS2 Navigation Frameworks
Author(s):
Surabhi Gupta, Siddhant Swan , Amit Barde, Sapna Wagaj
Keywords:
ROS, ROS2, navigation, SLAM, path planning
Abstract
This research paper comprehensively benchmarks the SLAM, global path planning, and local planning capabilities of the ROS Navigation Stack and ROS2 Navigation2 (Nav2) for autonomous mobile robot navigation. As robots operate in increasingly complex environments, evaluating navigation frameworks is critical. The study highlights Nav2's strengths in global planning and competitive local planning performance, offering insights for optimizing navigation solutions across applications. The study reveals Nav2's superior global planning performance with the SMAC planner and generally competitive local planning capabilities compared to ROS's Navigation Stack, albeit with an isolated instance of collision observed with the DWB planner.
Article Details
Unique Paper ID: 164217 Publication Volume & Issue: Volume 10, Issue 12 Page(s): 578 - 588
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