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0 pointssgillen2mo ago0 comments

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.htm...

And ROS native buffers: https://discourse.openrobotics.org/t/update-on-ros-native-bu...

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dheera2mo ago

> Can you say more about the nav stack?

It's fine for robots like these

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/shorts/hKVwM5pa3NQ

https://www.youtube.com/shorts/XA_jjE2OES4

https://www.youtube.com/shorts/JOqc7dmmD5o

https://www.youtube.com/shorts/v9Pilgh1vcA

Ekami1mo ago

Very 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.

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