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 Interfaces
• nav_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 generation
• dwb_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 fail
• locomotor_msgs - An action definition for Locomotor and other related messages
• locomove_base - Extension of Locomotor that replicates move_base's functionality.

Utilities

• nav_2d_utils - Message conversions, etc.
• nav_grid_iterators - Iterator implementations for moving around the cells of a nav_grid in a number of common patterns.
• nav_grid_pub_sub - Publishers and Subscribers for nav_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 between nav_core and nav_core2.

More to come!