See also: ROS package
This GUI application is designed to test a 3D reactive navigator. It simulates a “2.5D world” where obstacles are modeled through several occupancy grid maps at different heights. The robot shape can be customized and 2D or 3D range sensors can be “added” to the robot at any 3D relative pose. During its execution, the user sets different target locations for running reactive navigation simulations.
Note that navigation logs generated by this simulator (as well as from real robots using these classes) can be inspected with the program navlog-viewer.