odin-nav-stack

Overview

Odin Navigation Stack is an open source robot navigation stack built around Odin1, a spatial sensing module that provides 3D mapping, relocalization and streams such as RGB, depth, IMU, odometry and point clouds. It targets ground platforms like the Unitree Go2. The open source parts cover dynamic obstacle-aware navigation, semantic navigation by spoken or typed commands, and scene description with vision-language models. It has a modular ROS1-based design. SLAM itself is inside Odin1 and not open sourced.

Key features

• Dynamic obstacle-aware navigation with local and global planners
• Semantic navigation, for example going to the left of a chair
• Scene descriptions from vision-language models
• Modular ROS1-based architecture
• Tuning guide and in-place obstacle avoidance

Best for

Robotics developers who own an Odin1 sensor and a platform such as the Unitree Go2. It depends on Odin1, whose SLAM is not open source.