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Can you say more about the nav stack? I thought nav2 was considered one of the better more mature packages in ROS2, but it's not my area of expertise. | As rob
by sgillen 7mo ago
Can you say more about the nav stack? I thought nav2 was considered one of the better more mature packages in ROS2, but it's not my area of expertise.
| As robotics moves toward end-to-end AI systems, stuff needs to stay on GPU memory, not shuttled back and forth across processes through a networking stack.
NVIDIA actually is addressing this with NITROS: https://nvidia-isaac-ros.github.io/concepts/nitros/index.html https://nvidia-isaac-ros.github.io/concepts/nitros/index.htm...
And ROS native buffers: https://discourse.openrobotics.org/t/update-on-ros-native-buffers/51771 https://discourse.openrobotics.org/t/update-on-ros-native-bu...
- dheera 7mo ago> Can you say more about the nav stack? It's fine for robots like these https://docs.nav2.org/about/robots.html https://docs.nav2.org/about/robots.html It's not useful for robots like these https://www.youtube.com/watch?v=XoQI-kLRrXA https://www.youtube.com/watch?v=XoQI-kLRrXA https://www.youtube.com/shorts/hKVwM5pa3NQ https://www.youtube.com/shorts/hKVwM5pa3NQ https://www.youtube.com/shorts/XA_jjE2OES4 https://www.youtube.com/shorts/XA_jjE2OES4 https://www.youtube.com/shorts/JOqc7dmmD5o https://www.youtube.com/shorts/JOqc7dmmD5o https://www.youtube.com/shorts/v9Pilgh1vcA https://www.youtube.com/shorts/v9Pilgh1vcA
- Ekami 7mo agoVery interesting. There is nothing that would prevent PeppyOS nodes from running on the GPU. The messaging tech behind PeppyOS is Zenoh (it's swappable), it can run on embedded systems (PeppyOS nodes will also be compatible with embedded in the future). That being said, at the moment the messaging system runs exclusively on the CPU.