Nav2 Action APIs - Humble

This page documents the ROS Action APIs available in Nav2 for the humble distribution. These actions provide high-level interfaces for navigation tasks, planning, and recovery behaviors.

Available Actions (14 total)

FollowWaypoints

Package: nav2_msgs

Navigate robot through a series of waypoints with optional task execution at each point

NavigateThroughPoses

Package: nav2_msgs

Navigate robot through a sequence of poses in order

NavigateToPose

Package: nav2_msgs

Navigate robot to a specific pose with obstacle avoidance and recovery behaviors

Planning Actions

ComputeAndTrackRoute

Package: nav2_msgs

Compute and actively track a route with dynamic replanning

ComputePathThroughPoses

Package: nav2_msgs

Compute an optimal path connecting multiple poses in sequence

ComputePathToPose

Package: nav2_msgs

Compute an optimal path from current position to a target pose

ComputeRoute

Package: nav2_msgs

Compute a high-level route between waypoints using graph search

SmoothPath

Package: nav2_msgs

Generate a smoother, kinematically feasible path from a discrete path

Controller Actions

FollowPath

Package: nav2_msgs

Execute path following using a specified controller with progress monitoring

Behaviors

AssistedTeleop

Package: nav2_msgs

Provide assisted teleoperation with collision avoidance and safety checks

BackUp

Package: nav2_msgs

Move robot backwards a specified distance with obstacle detection

DriveOnHeading

Package: nav2_msgs

Drive robot forward in a specific direction for a given distance

Spin

Package: nav2_msgs

Rotate robot in place to a target yaw angle with collision checking

Wait

Package: nav2_msgs

Pause robot operation for a specified duration or until condition is met

Generated on 2025-08-08 09:48:43 UTC