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).
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}
}| Service | Foxy | Galactic | Humble | Main |
|---|---|---|---|---|
| ROS Build Farm | N/A | |||
| Circle CI | N/A | N/A | N/A |  |
| Package | Foxy Source | Foxy Debian | Galactic Source | Galactic 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 |