Enhanced Navigation ROS2-Nav2 using MPPI and Spatio-Temporal Voxel Layed

Enhanced Navigation using ROS-2 - Nav2 with laser Obstacle layer (global and local costmap), Spatio-Temporal Voxel Layer (global and local costmap), MPPI Controller (PMB-2 Pal mobile based)

We have updated the navigation of the Palbator, LyonTech team robot. With a PAL PMB2 in ROS1, we use a ros bridge to exchange laser scan, odometry, robot description and command velocity between ROS1 and ROS2. Finally, we configure NAV-2 using MPPI as the controller and add several costmap layers to the local and global costmap. The information from the RGB-D camera is also used to avoid 3D obstacles through a Spatio-Temporal Voxel Layer Spatio-Temporal Voxel Layer