nav2_robot is a package containing an implementation class
Robot containing information about robot specific parameters, controls, and information.
Robot contains basics for interacting with the robot hardware abstraction. It is the entry point for getting information from the odometry measurements and publishing velocity commands.
This package does not have a direct counter-part in Navigation. Navigation contains a set of parameter files and reads information from each as needed. This package's intention is to act as a consolidator of robot-specific needs and information for each package across the meta-package to use. An example of another addition to meet that is to have an abstract implementation of a motion model for use in AMCL rather than hard-coding motion models options in the package itself.
- This package may soon be deprecated in favor of some robot-specific utilities
- Adding motion model, footprint, base parameters, etc