The robot_navigation Stack
2.5D Navigation in ROS
Available Packages:
Core Interaces
nav_grid
- A templatized interface for overlaying a two dimensional grid on the world.nav_core2
- Core Costmap and Planner Interfacesnav_2d_msgs
- Basic message types for two and a half dimensional navigation.
Local Planning
dwb_local_planner
- The core planner logic and plugin interfaces.dwb_msgs
- ROS Interfaces for interacting with the dwb local planner.dwb_plugins
- Plugin implementations for velocity iteration and trajectory generationdwb_critics
- Critic plugin implementations needed for replicating behavior of dwa
Global Planning
dlux_global_planner
- The core planner logic and plugin interfaces.dlux_plugins
- Plugin implementations for dlux global planner interfaces.global_planner_tests
- Collection of tests for checking the validity and completeness of global planners.
Planner Coordination
locomotor
- Extensible path planning coordination engine that controls what happens when the global and local planners succeed and faillocomotor_msgs
- An action definition for Locomotor and other related messageslocomove_base
- Extension of Locomotor that replicatesmove_base
's functionality.
Utilities
nav_2d_utils
- Message conversions, etc.nav_grid_iterators
- Iterator implementations for moving around the cells of anav_grid
in a number of common patterns.nav_grid_pub_sub
- Publishers and Subscribers fornav_grid
data.costmap_queue
- Tool for iterating through the cells of a costmap to find the closest distance to a subset of cells.
Backwards Compatibility
nav_core_adapter
- Adapters betweennav_core
andnav_core2
.