GeRoNa: Generic Robot Navigation

GeRoNa（通用机器人导航）是一个模块化机器人导航框架，它将路径规划和路径跟踪(包括障碍检测)捆绑在一起，并管理各个模块之间的通信。它被设计为易于扩展的新任务和机器人模型。「GeRoNa (Generic Robot Navigation) is a modular robot navigation framework, that bundles path planning and path following (including obstacle detection) and manages communication between the individual modules. It is designed to be easily extensible for new tasks and robot models.」