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).

⚠️ If you need professional services related to Nav2, please contact Open Navigation at info@opennav.org.

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.

Nvidia develops GPU and AI technologies that power modern robotics, autonomous driving, data centers, gaming, and more.

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 any of the algorithms in Nav2 or the analysis of the algorithms in your work, please cite this work in your papers!

• S. Macenski, T. Moore, DV Lu, A. Merzlyakov, M. Ferguson, From the desks of ROS maintainers: A survey of modern & capable mobile robotics algorithms in the robot operating system 2, Robotics and Autonomous Systems, 2023.

  @article{macenski2023survey,
        title={From the desks of ROS maintainers: A survey of modern & capable mobile robotics algorithms in the robot operating system 2}, 
        author={S. Macenski, T. Moore, DV Lu, A. Merzlyakov, M. Ferguson},
        year={2023},
        journal = {Robotics and Autonomous Systems}
  }

If you use the Smac Planner (Hybrid A*, State Lattice, 2D), please cite this work in your papers!

• S. Macenski, M. Booker, J. Wallace, Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics. 2024.

@article{macenski2024smac,
      title={Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics}, 
      author={Steve Macenski and Matthew Booker and Josh Wallace},
      year={2024},
      journal = {Arxiv}
}

If you use the Regulated Pure Pursuit Controller algorithm or software from this repository, please cite this work in your papers!

• S. Macenski, S. Singh, F. Martin, J. Gines, Regulated Pure Pursuit for Robot Path Tracking. Autonomous Robots, 2023.

@article{macenski2023regulated,
      title={Regulated Pure Pursuit for Robot Path Tracking}, 
      author={Steve Macenski and Shrijit Singh and Francisco Martin and Jonatan Gines},
      year={2023},
      journal = {Autonomous Robots}
}

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

Package	humble Source	humble Debian	iron Source	iron Debian	jazzy Source	jazzy Debian
navigation2
nav2_amcl
nav2_behavior_tree
nav2_behaviors
nav2_bringup
nav2_bt_navigator
nav2_collision_monitor
nav2_common
nav2_constrained_smoother
nav2_controller
nav2_core
nav2_costmap_2d
nav2_docking			N/A	N/A
nav2_dwb_controller
nav2_graceful_controller			N/A	N/A
nav2_lifecycle_manager
nav2_map_server
nav2_mppi_controller
nav2_msgs
nav2_navfn_planner
nav2_planner
nav2_regulated_pure_pursuit
nav2_rotation_shim_controller
nav2_rviz_plugins
nav2_simple_commander
nav2_smac_planner
nav2_smoother
nav2_system_tests
nav2_theta_star_planner
nav2_util
nav2_velocity_smoother
nav2_voxel_grid
nav2_waypoint_follower

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).