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並前往https://medium.com/black-coffee-robotics/ros-and-ros2-navigation-stacks-a-performance-review-facb4d6c15a1

ROS and ROS2 Navigation Stacks: A performance review

Working as a robotics consultant, I am often asked about what's new with ROS2 navigation stack or if it is the right time to switch to ROS2.

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