Nav2

For detailed instructions on how to:

• Getting Started
• Concepts
• Build
• Install
• General Tutorials and Algorithm Developer Tutorials
• Configure
• Navigation Plugins
• Migration Guides
• Container Images for Building Nav2
• Contribute

Please visit our documentation site. Please visit our community Slack here (if this link does not work, please contact maintainers to reactivate).

Our Sponsors

Please thank our amazing sponsors for their generous support of Nav2 on behalf of the community to allow the project to continue to be professionally maintained, developed, and supported for the long-haul! Open Navigation LLC provides project leadership, maintenance, development, and support services to the Nav2 & ROS community.

Dexory develops robotics and AI logistics solutions to drive better business decisions using a digital twin of warehouses to provide inventory insights.

Polymath Robotics creates safety-critical navigation systems for industrial vehicles that are radically simple to enable and deploy.

Stereolabs produces the high-quality ZED stereo cameras with a complete vision pipeline from neural depth to SLAM, 3D object tracking, AI and more.

Confidential is just happy to support Nav2's mission!

Citation

If you use the navigation framework, an algorithm from this repository, or ideas from it please cite this work in your papers!

• S. Macenski, F. Martín, R. White, J. Clavero. The Marathon 2: A Navigation System. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

@InProceedings{macenski2020marathon2,
  title = {The Marathon 2: A Navigation System},
  author = {Macenski, Steve and Martín, Francisco and White, Ruffin and Ginés Clavero, Jonatan},
  year = {2020},
  booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  url = {https://github.com/ros-planning/navigation2},
  pdf = {https://arxiv.org/abs/2003.00368}
}

If you use our work on VSLAM and formal comparisons for service robot needs, please cite the paper:

• A. Merzlyakov, S. Macenski. A Comparison of Modern General-Purpose Visual SLAM Approaches. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

@InProceedings{vslamComparison2021,
  title = {A Comparison of Modern General-Purpose Visual SLAM Approaches},
  author = {Merzlyakov, Alexey and Macenski, Steven},
  year = {2021},
  booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pdf = {https://arxiv.org/abs/2107.07589}
}

Build Status

Service	Foxy	Humble	Main
ROS Build Farm			N/A
Circle CI	N/A	N/A

Package	Foxy Source	Foxy Debian	Humble Source	Humble Debian
Navigation2
nav2_amcl
nav2_behavior_tree
nav2_{recoveries, behaviors}
nav2_bringup
nav2_bt_navigator
nav2_common
nav2_constrained_smoother	N/A	N/A	N/A	N/A
nav2_controller
nav2_core
nav2_costmap_2d
nav2_dwb_controller
nav2_lifecycle_manager
nav2_map_server
nav2_msgs
nav2_navfn_planner
nav2_planner
nav2_regulated_pure_pursuit
nav2_rotation_shim_controller	N/A	N/A	N/A	N/A
nav2_rviz_plugins
nav2_simple_commander	N/A	N/A
nav2_smac_planner
nav2_smoother	N/A	N/A	N/A	N/A
nav2_system_tests
nav2_theta_star_planner	N/A	N/A
nav2_util
nav2_voxel_grid
nav2_waypoint_follower