Nav2 Service APIs - Humble

This page documents the ROS Service APIs available in Nav2 for the humble distribution. These services provide request-response interfaces for navigation configuration, system control, and data queries.

Available Services (11 total)

Costmap Services

ClearCostmapAroundRobot

Package: nav2_msgs

Clear costmap within a specified distance around the robot's current position

ClearCostmapExceptRegion

Package: nav2_msgs

Clear entire costmap except for a specified rectangular region

ClearEntireCostmap

Package: nav2_msgs

Clear the entire costmap, resetting all cells to free space

GetCostmap

Package: nav2_msgs

Retrieve the entire costmap as an occupancy grid

Route Planning Services

DynamicEdges

Package: nav2_msgs

Dynamically modify route graph edges during navigation

SetRouteGraph

Package: nav2_msgs

Load a new route graph from a specified file path

Map Services

LoadMap

Package: nav2_msgs

Load a map from a specified URL or file path

SaveMap

Package: nav2_msgs

Save the current map to a specified file location

Lifecycle Services

ManageLifecycleNodes

Package: nav2_msgs

Control lifecycle states of Nav2 nodes (startup, shutdown, pause, etc.)

Validation Services

IsPathValid

Package: nav2_msgs

Validate whether a given path is collision-free and traversable

Localization Services

SetInitialPose

Package: nav2_msgs

Set the initial pose estimate for robot localization

Generated on 2025-08-17 03:25:53 UTC