Nav2 Message APIs - Kilted
This page documents the ROS Message APIs available in Nav2 for the kilted distribution. These messages define the data structures used for communication between navigation components, including behavior trees, costmaps, localization, and planning.
Available Messages (19 total)
Behavior Tree Messages
Package: nav2_msgs
Log data from behavior tree execution including events and status changes
Package: nav2_msgs
Status change events from behavior tree node execution
Costmap Messages
Package: nav2_msgs
2D grid map representation with cost values for navigation planning
Package: nav2_msgs
Information about costmap filters and their parameters
Package: nav2_msgs
Metadata describing costmap properties and configuration
Package: nav2_msgs
Incremental updates to costmap data for efficient real-time updates
Package: nav2_msgs
3D voxel grid representation for obstacle tracking and collision detection
Collision/Safety Messages
Package: nav2_msgs
State information from collision detection systems
Package: nav2_msgs
Monitoring data from collision avoidance systems
Localization Messages
Package: nav2_msgs
Individual particle representation for particle filter localization
Package: nav2_msgs
Collection of particles for particle filter-based localization
Route/Planning Messages
Package: nav2_msgs
Cost information for edges in route planning
Package: nav2_msgs
Complete route definition with nodes and edges for graph-based navigation
Package: nav2_msgs
Edge connection between route nodes with cost information
Package: nav2_msgs
Node in a route graph representing waypoints or locations
Trajectory Messages
Package: nav2_msgs
Speed limit constraints for navigation planning
Package: nav2_msgs
Complete trajectory with sequence of trajectory points
Package: nav2_msgs
Individual point in a trajectory with pose and velocity information
Package: nav2_msgs
Status information for waypoint navigation tasks
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