Bidirectional navigation with Nav2

Presented at ROSCon 2023 by Guillaume Doisy of Dexory.

Many robots possess a non-circular footprint which is often symmetrical (a rectangular footprint for instance). This theoretically allows these robots to move without a preferred direction of motion. However the software controlling these symmetrical robots should support such bidirectionality. Recent updates in Nav2 allows it through all levels of the stack.