Nav2 Service APIs - Lyrical

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

Available Services (20 total)

Costmap Services

ClearCostmapAroundPose

Package: nav2_msgs

Clear costmap within a specified distance around a given pose

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

GetCosts

Package: nav2_msgs

Retrieve costmap cost values at specified poses

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

Docking Services

ReloadDockDatabase

Package: nav2_msgs

Reload the docking database with updated dock configurations

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

Other Services

AddExclusionZone

Package: nav2_msgs

Add an exclusion zone to a collision monitor / detector source at runtime.

AddShapes

Package: nav2_msgs

Add/update vector objects on map

GetShapes

Package: nav2_msgs

Get vector objects which are now being applied on map

RemoveExclusionZone

Package: nav2_msgs

Remove exclusion zone(s) from a collision monitor / detector source at runtime.

RemoveShapes

Package: nav2_msgs

Remove vector objects from map

Toggle

Package: nav2_msgs

Nav2 service for robotic navigation and system control

Generated on 2026-08-05 19:42:22 UTC