Overview - Architecture structure

Navigation architecture

The nav architecture is kept very simple. The navigation mainly relies on the 3rd party nav2 system from Open Navigation to compute a path from point A to point B while detecting and avoiding obstacles.

The nav node serves as a bridge to load and provide points of interest. Other components can query those and request to navigate to them based of their name without the need of knowing the exact coordinates themselves.

In order to manage the points of interest the nav node uses the mapdesc package developed by the DFKI.