Nav2 Message APIs - Humble

This page documents the ROS Message APIs available in Nav2 for the humble distribution. These messages provide data structures for navigation tasks, sensor data, and system status.

Available Messages (14 total)

Costmap Messages

Costmap

Package: nav2_msgs

Occupancy grid representation for navigation planning with cost values

CostmapFilterInfo

Package: nav2_msgs

Filter information for costmap layers and processing

CostmapMetaData

Package: nav2_msgs

Metadata information for costmap including dimensions and resolution

VoxelGrid

Package: nav2_msgs

3D voxel grid representation for obstacle detection and mapping

Behavior Tree Messages

BehaviorTreeLog

Package: nav2_msgs

Logging information from behavior tree execution

BehaviorTreeStatusChange

Package: nav2_msgs

Status change events from behavior tree nodes

Localization Messages

Particle

Package: nav2_msgs

Single particle hypothesis with pose and weight for particle filter localization

ParticleCloud

Package: nav2_msgs

Collection of particles representing pose distribution in particle filter

Route Planning Messages

EdgeCost

Package: nav2_msgs

Cost information for route graph edges

Route

Package: nav2_msgs

Complete route plan with waypoints and metadata

RouteEdge

Package: nav2_msgs

Connection between route nodes with traversal cost

RouteNode

Package: nav2_msgs

Individual waypoint node in a route graph

Collision Detection Messages

CollisionMonitorState

Package: nav2_msgs

Monitoring state for collision avoidance systems

Trajectory Messages

SpeedLimit

Package: nav2_msgs

Speed limit information for navigation areas

Generated on 2025-08-12 08:24:06 UTC