Nav2 World Model

nav2_world_model is a package containing an exposed environmental representation. Today, it uses the nav2_costmap_2d layered costmap as the world model. In the future, this is the entry point for applications to request or view information about the environment around it. The implementations such as costmaps or height maps will provide the buffering of data and representations as they require. They are then wrapped for generalized use for path planning and control.

ROS1 Comparison

ROS1 Navigation contains costmap_2d which is directly used as the evironmental model. This package is able to consume nav2_costmap_2d as an implementation of a world model, but can also utilize other world models to suit the needs of a specific application. Rather than querying costmap_2d for information, applications will query nav2_world_model which will in turn use the current world model and retrieve the information requested.

Future

• Additional implementations/support for different environmental representations like grid_maps, height maps, traversibility maps, etc.
• Utilities for converting types for use in other applications like control and planning.