RDS - ROS2

ROS2 port of the Reactive Driving Support system for convex non-holonomic robot navigation

• ros2-port (this branch) - Active ROS2 implementation
• crowdbot/master - Original ROS1 implementation

This is a complete ROS2 reimplementation. For the original ROS1 version, see the upstream repository.

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About

Reactive Driving Support (RDS) is a method for robots to avoid imminent collisions with moving obstacles, developed at LASA, EPFL.

• 📺 Video demonstration
• 🔬 Original research funded by EU H2020 Crowdbot project

This ROS2 port maintains the core reactive navigation functionality while adapting to modern ROS2 architecture and integrating with the WHILL platform.

Key Features

• ✅ Reactive collision avoidance for non-holonomic capsule-shaped robots
• ✅ ROS2 native implementation with modern APIs
• ✅ Laser scanner integration (front/rear LiDAR support)
• ✅ WHILL platform integration
• ✅ Service-based architecture for velocity command correction
• ✅ RVO2 library integration for velocity obstacles

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Package Structure

src/
├── rds_core/          # Core RDS algorithms and logic
├── rds_ros2/          # ROS2 node implementations and launch files
├── rds_msgs/          # Custom ROS2 message/service def
├── rvo2_lib/          # RVO2 library for velocity obstacles
└── ira_laser_tools/   # Laser scan processing utils