For detailed instructions on how to:
- Getting Started
- Concepts
- Build
- Install
- General Tutorials and Algorithm Developer Tutorials
- Configure
- Navigation Plugins
- Migration Guides
- Container Images for Building Nav2
- Contribute
Please visit our documentation site. Please visit our community Slack here (if this link does not work, please contact maintainers to reactivate).
If you need professional services related to Nav2, please contact Open Navigation at info@opennav.org.
Our Sponsors
Please thank our amazing sponsors for their generous support of Nav2 on behalf of the community to allow the project to continue to be professionally maintained, developed, and supported for the long-haul! Open Navigation LLC provides project leadership, maintenance, development, and support services to the Nav2 & ROS community.
<a href="https://www.dexory.com/">Dexory</a> develops robotics and AI logistics solutions to drive better business decisions using a digital twin of warehouses to provide inventory insights.
<a href="https://www.polymathrobotics.com/">Polymath Robotics</a> creates safety-critical navigation systems for industrial vehicles that are radically simple to enable and deploy.
<a href="https://www.stereolabs.com/">Stereolabs</a> produces the high-quality ZED stereo cameras with a complete vision pipeline from neural depth to SLAM, 3D object tracking, AI and more.
Confidential is just happy to support Nav2's mission!
Citation
If you use the navigation framework, an algorithm from this repository, or ideas from it please cite this work in your papers!
- S. Macenski, F. Martín, R. White, J. Clavero. The Marathon 2: A Navigation System. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
If you use our work on VSLAM and formal comparisons for service robot needs, please cite the paper:
- A. Merzlyakov, S. Macenski. A Comparison of Modern General-Purpose Visual SLAM Approaches. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
Build Status
| Service | Foxy | Humble | Main |
|---|---|---|---|
| ROS Build Farm | N/A | ||
| Circle CI | N/A | N/A |  |
| Package | Foxy Source | Foxy Debian | Humble Source | Humble Debian |
|---|---|---|---|---|
| Navigation2 | ||||
| nav2_amcl | ||||
| nav2_behavior_tree | ||||
| nav2_{recoveries, behaviors} | ||||
| nav2_bringup | ||||
| nav2_bt_navigator | ||||
| nav2_common |
| nav2_constrained_smoother | N/A | N/A | N/A | N/A | |
| | nav2_controller |
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| | nav2_core |
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| | nav2_costmap_2d |
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| | nav2_dwb_controller |
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| | nav2_lifecycle_manager |
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| | nav2_map_server |
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| | nav2_msgs |
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| | nav2_navfn_planner |
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| | nav2_planner |
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| | nav2_regulated_pure_pursuit |
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| | nav2_rotation_shim_controller | N/A | N/A | N/A | N/A |
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| | nav2_rviz_plugins |
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| | nav2_simple_commander | N/A | N/A |
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| | nav2_smac_planner |
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| | nav2_smoother | N/A | N/A | N/A | N/A |
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| | nav2_system_tests |
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| | nav2_theta_star_planner | N/A | N/A |
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| | nav2_util |
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| | nav2_voxel_grid |
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| | nav2_waypoint_follower |
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