Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Navigation 2 Roadmap #592

crdelsey opened this Issue Mar 4, 2019 · 0 comments


1 participant
Copy link

crdelsey commented Mar 4, 2019

This is a quick summary of major changes and additions we'd like to make to the navigation 2 codebase in rough priority order. This represents current plans but not commitments.

Major Features


  • Run the Nav2 stack on a real robot (Turtlebot 3)
  • Add lifecycle support (mjeronimo)
    • Change Nav 2 nodes to lifecycle nodes and manage them (mjeronimo) #583
    • Push needed ROS2 lifecycle node changes upstream (mjeronimo) #608
    • In BtNavigator, move creation of BT to configure state (mjeronimo) #611
  • Transition from nav2 tasks to ROS2 actions (mjeronimo) #541
  • Remove dynamic parameters (mjeronimo) #609
  • Make robot motion reliable
    • Finish up and refine recovery actions
    • Test obstacle layer
    • Tune controllers for Turtlebot 3
    • Fix bugs
  • Documentation improvements
  • Test dynamic obstacle handling
  • Test voxel layer
  • Run the nav2 stack on an additional robot
  • Improve testing
    • Improve AMCL test
    • Stabilize nav2_system_test
    • Develop method to compare algorithm performance
    • Compare Nav 2 results vs ROS 1 results


  • Create real world use cases in Gazebo
  • Develop new world model and costmap representation
  • Support multiple robots simultaneously
  • Multi-robot orchestration
  • Support alternate motion models
    • Holonomic robots
    • Ackermann robots
  • Update core algorithms and provide guidelines
  • Map server enhancements
  • Outdoor navigation
  • Zone support
  • Real-time deadline monitoring
  • Add test capability to enhance interaction with gazebo
    • Update model and world state
    • Dynamically alter world
  • Support for maps with elevation, such as ramps
  • Support for use cases with elevators
  • Optimize Auto Localization

@crdelsey crdelsey pinned this issue Mar 4, 2019

@crdelsey crdelsey added this to Medium Priority Issues in Navigation 2 Kanban Mar 18, 2019

@crdelsey crdelsey moved this from Medium Priority Issues to High Priority Issues in Navigation 2 Kanban Mar 18, 2019

@crdelsey crdelsey removed this from High Priority Issues in Navigation 2 Kanban Mar 18, 2019

@crdelsey crdelsey added this to Incoming Issues in Navigation 2 Kanban Mar 25, 2019

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
You can’t perform that action at this time.