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ROSNavigationGuide

This is a guide for ROS navigation parameters tuning. Hopefully it is helpful for you to understand concepts and reasonings behind different components in ROS navigation stack and how to tune them well. It is also a summary for part of my research work.

The PDF file is here.

Feel free to open issues about mistakes, or contribute directly by sending pull requests.

Update: This document is now published as a chapter in the Robot Operating System (ROS): The Complete Reference (Volume 6). It is still available on arxiv. Please use the following citation:

@Inbook{zheng-ros-navguide,
    author    = "Zheng, Kaiyu",
    editor    = "Koubaa, Anis",
    title     = "ROS Navigation Tuning Guide",
    bookTitle = "Robot Operating System (ROS): The Complete Reference (Volume 6)",
    year      = "2021",
    publisher = "Springer International Publishing",
    address   = "Cham",
    pages     = "197--226",
    isbn      = "978-3-030-75472-3",
    doi       = "10.1007/978-3-030-75472-3_6",
    url       = "https://doi.org/10.1007/978-3-030-75472-3_6"
}

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