ros-navigation/navigation2

ROS 2 Navigation Framework and System

What it solves

Nav2 provides a comprehensive navigation framework for mobile robots, enabling them to move from one location to another autonomously while avoiding obstacles and adhering to kinematic constraints.

How it works

It implements a modular system of navigation algorithms and plugins for the Robot Operating System 2 (ROS 2). The framework includes components for global and local planning, path tracking, and localization. Key algorithms include the Smac Planner for kinematically feasible planning and the Regulated Pure Pursuit Controller for precise path tracking.

Who it’s for

It is designed for robotics developers and researchers building autonomous mobile robots, ranging from industrial vehicles to service robots.

Highlights

  • Modular Architecture: Uses a plugin-based system allowing developers to swap navigation algorithms easily.
  • Kinematically Feasible Planning: Includes the Smac Planner (supporting Hybrid A*, State Lattice, and 2D) for cost-aware planning.
  • Advanced Path Tracking: Features the Regulated Pure Pursuit Controller for improved robot path tracking.
  • Broad Support: Professionally maintained and supported across multiple ROS 2 distributions (Humble, Jazzy, Lyrical).

Related

  • Project
    open-navigation/opennav_coverage

    A Nav2-integrated complete coverage path planning system that uses Fields2Cover to generate efficient paths for robots to cover entire fields or rows.

  • Project
    linorobot/linorobot2

    A ROS2 package that provides a pre-integrated foundation for autonomous navigation, supporting physical robots (2WD, 4WD, Mecanum) and Gazebo simulations.

  • Project
    aerostack2/aerostack2

    A ROS 2 framework for creating autonomous multi-aerial-robot systems with a focus on modularity and swarm capabilities.

  • Project
    ros-controls/ros2_controllers

    A collection of generalized, ready-to-use controllers for the ros2-control framework, compatible with MoveIt2 and Nav2.

  • Project
    SMBU-PolarBear-Robotics-Team/pb2025_sentry_nav

    A ROS 2 and NAV2-based navigation and simulation package for RoboMaster sentry robots, featuring LiDAR-based SLAM, relocalization, and path tracking.