The robot_navigation Stack
2.5D Navigation in ROS
nav_grid- A templatized interface for overlaying a two dimensional grid on the world.
nav_core2- Core Costmap and Planner Interfaces
nav_2d_msgs- Basic message types for two and a half dimensional navigation.
dwb_local_planner- The core planner logic and plugin interfaces.
dwb_msgs- ROS Interfaces for interacting with the dwb local planner.
dwb_plugins- Plugin implementations for velocity iteration and trajectory generation
dwb_critics- Critic plugin implementations needed for replicating behavior of dwa
dlux_global_planner- The core planner logic and plugin interfaces.
dlux_plugins- Plugin implementations for dlux global planner interfaces.
global_planner_tests- Collection of tests for checking the validity and completeness of global planners.
locomotor- Extensible path planning coordination engine that controls what happens when the global and local planners succeed and fail
locomotor_msgs- An action definition for Locomotor and other related messages
locomove_base- Extension of Locomotor that replicates
nav_2d_utils- Message conversions, etc.
nav_grid_iterators- Iterator implementations for moving around the cells of a
nav_gridin a number of common patterns.
nav_grid_pub_sub- Publishers and Subscribers for
costmap_queue- Tool for iterating through the cells of a costmap to find the closest distance to a subset of cells.
nav_core_adapter- Adapters between