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  • Getting Started
    • Installation
    • Running the Example
    • Navigating
  • Development Guides
    • Build and Install
      • Install
        • For Iron and Older
        • For Jazzy and Newer
      • Build
        • Released Distribution Binaries
        • Rolling Development Source
        • Docker Container Images
      • Generate Doxygen
      • Help
        • Build Troubleshooting Guide
    • Dev Containers
      • Dev Container Guide
        • Creating Dev Containers
        • Using Dev Containers
      • What, Why, How?
        • What is a Dev Container?
        • Why use a Dev Container?
        • How do Dev Containers work?
      • Prerequisites
      • Getting started
      • Security
    • Getting Involved
      • Getting Involved
      • Process
      • Licensing
      • Developer Certification of Origin (DCO)
  • Navigation Concepts
    • ROS 2
      • Action Server
      • Lifecycle Nodes and Bond
    • Behavior Trees
    • Navigation Servers
      • Planner, Controller, Smoother, Route, and Behavior Servers
      • Planners
      • Controllers
      • Behaviors
      • Smoothers
      • Route
      • Robot Footprints
      • Waypoint Following
    • State Estimation
      • Standards
      • Global Positioning: Localization and SLAM
      • Odometry
    • Environmental Representation
      • Costmaps and Layers
      • Costmap Filters
      • Other Forms
    • Nav2 Academic Overview
  • First-Time Robot Setup Guide
    • Table of Contents
      • Setting Up Transformations
        • Transforms Introduction
        • Static Transform Publisher Demo
        • Transforms in Navigation2
        • Conclusion
      • Setting Up The URDF
        • URDF and the Robot State Publisher
        • Setting Up the Environment
        • Writing the URDF
        • Build and Launch
        • Visualization using RVIZ
        • Adding Physical Properties
        • Conclusion
      • Setting Up The SDF - Gazebo
        • About SDF
        • Writing the SDF
        • Build and Launch
        • Conclusion
      • Setting Up Odometry - Gazebo
        • Odometry Introduction
        • Setting Up Odometry on your Robot
        • Simulating an Odometry System using Gazebo
        • Conclusion
      • Smoothing Odometry using Robot Localization
        • Configuring Robot Localization
        • Launch and Build Files
        • Build, Run and Verification
      • Setting Up Sensors - Gazebo
        • Sensor Introduction
        • Simulating Sensors using Gazebo
        • Conclusion
      • Mapping and Localization
        • Costmap 2D
        • Conclusion
      • Setting Up the Robot’s Footprint
        • Footprint Introduction
        • Configuring the Robot’s Footprint
        • Build, Run and Verification
        • Visualizing Footprint in RViz
        • Conclusion
      • Setting Up Navigation Plugins
        • Planner and Controller Servers
        • Selecting the Algorithm Plugins
        • Conclusion
      • Setting Up Transformations
        • Transforms Introduction
        • Static Transform Publisher Demo
        • Transforms in Navigation2
        • Conclusion
      • Setting Up The URDF
        • URDF and the Robot State Publisher
        • Setting Up the Environment
        • Writing the URDF
        • Build and Launch
        • Visualization using RVIZ
        • Adding Physical Properties
        • Conclusion
      • Setting Up Odometry - Gazebo Classic
        • Odometry Introduction
        • Setting Up Odometry on your Robot
        • Simulating an Odometry System using Gazebo
        • Conclusion
      • Smoothing Odometry using Robot Localization
        • Configuring Robot Localization
        • Launch and Build Files
        • Build, Run and Verification
      • Setting Up Sensors - Gazebo Classic
        • Sensor Introduction
        • Simulating Sensors using Gazebo Classic
        • Conclusion
      • Mapping and Localization
        • Costmap 2D
        • Conclusion
      • Setting Up the Robot’s Footprint
        • Footprint Introduction
        • Configuring the Robot’s Footprint
        • Build, Run and Verification
        • Visualizing Footprint in RViz
        • Conclusion
      • Setting Up Navigation Plugins
        • Planner and Controller Servers
        • Selecting the Algorithm Plugins
        • Conclusion
  • Robots Using
    • Research Robots
  • ROSCon Talks
    • Nav2 Developer Talks
    • Community’s Talks
  • General Tutorials
    • Navigating with a Physical Turtlebot 3
      • Overview
      • Requirements
      • Tutorial Steps
        • 0- Setup Your Environment Variables
        • 1- Launch Turtlebot 3
        • 2- Launch Nav2
        • 3- Launch RVIZ
        • 4- Initialize the Location of Turtlebot 3
        • 5- Send a Goal Pose
    • (SLAM) Navigating While Mapping
      • Overview
      • Requirements
      • Tutorial Steps
        • 0- Launch Robot Interfaces
        • 1- Launch Navigation2
        • 2- Launch SLAM
        • 3- Working with SLAM
        • 4- Getting Started Simplification
    • (STVL) Using an External Costmap Plugin
      • Overview
      • Costmap2D and STVL
      • Tutorial Steps
        • 0- Setup
        • 1- Install STVL
        • 1- Modify Navigation2 Parameter
        • 2- Launch Navigation2
        • 3- RVIZ
    • Navigating Using GPS Localization
      • Overview
      • Requirements
      • GPS Localization Overview
      • Tutorial Steps
        • 0- Setup Gazebo World
        • 1- Setup GPS Localization system
        • 2- Setup Navigation system
        • 3- Interactive GPS Waypoint Follower
        • 4- Logged GPS Waypoint Follower & Waypoint Logging
      • Conclusion
    • Groot Tutorials
      • Overview
      • Table of Contents
        • Groot - Interacting with Behavior Trees
        • Groot2 - Interacting with Behavior Trees
    • Using VIO to Augment Robot Odometry
      • Overview
      • Setting Up the ZED X Camera
      • Setting Up ZED ROS
      • Fusing VIO Into Local State Estimate
        • Fusing VSLAM Into Global State Estimate
      • Testing it Out!
    • Dynamic Object Following
      • Overview
      • Tutorial Steps
        • 0- Create the Behavior Tree
        • 1- Setup Rviz clicked point
        • 2- Run Dynamic Object Following in Nav2 Simulation
    • Navigating with Keepout Zones
      • Overview
      • Requirements
      • Tutorial Steps
        • 1. Prepare filter mask
        • 2. Configure Costmap Filter Info Publisher Server
        • 3. Enable Keepout Filter
        • 4. Run Nav2 stack
    • Navigating with Speed Limits
      • Overview
      • Requirements
      • Tutorial Steps
        • 1. Prepare filter mask
        • 2. Configure Costmap Filter Info Publisher Server
        • 3. Enable Speed Filter
        • 4. Run Nav2 stack
    • Using Docking Server
      • Overview
      • Requirements
      • ChargingDock Plugins
      • Dock Database
      • Configuring Docking Server
      • Adding Docking Server to Launch
      • Docking Action API
      • Putting It All Together
    • Using Rotation Shim Controller
      • Overview
      • What is the Rotation Shim Controller?
      • Configuring Rotation Shim Controller
      • Configuring Primary Controller
      • Demo Execution
    • Adding a Smoother to a BT
      • Overview
      • Requirements
      • Tutorial Steps
        • 0- Familiarization with the Smoother BT Node
        • 1- Specifying a Smoother Plugin
        • 2- Modifying your BT XML
    • Using Collision Monitor
      • Overview
      • Requirements
      • Configuring Collision Monitor
      • Configuring Collision Monitor with VelocityPolygon
      • Preparing Nav2 stack
      • Demo Execution
    • Adding a New Nav2 Task Server
      • Lifecycle Nodes
      • Composition
      • Error codes
      • Conclusion
    • Filtering of Noise-Induced Obstacles
      • Overview
      • Requirements
      • Tutorial Steps
        • 1. Enable Denoise Layer
        • 2. Run Nav2 stack
      • How it works
    • Camera Calibration
      • Overview
      • Requirements
      • Tutorial Steps
    • Get Backtrace in ROS 2 / Nav2
      • Overview
      • Preliminaries
      • From a Node
      • From a Launch File
      • From Large Project
      • From Nav2 Bringup
      • Automatic backtrace on crash
    • Profiling in ROS 2 / Nav2
      • Overview
      • Preliminaries
      • Profile from a Node
      • Profile from a Launch File
      • From Nav2 Bringup
      • Interpreting Results
    • Docker for Development: Zero to Hero
      • Overview
      • Preliminaries
      • Important Docker Commands
      • Exploring Your First Container
      • Understanding ROS Docker Images
      • For Docker-Based Development
        • Building a Development Image
        • Visualizations from Docker
      • For Docker-Based Deployment
      • Conclusion
      • Appendix
        • Nav2 Development Image
        • Nav2 Deployment Image
    • Route Server Tools
      • Provided Tools
        • Using the Nav2 Route Tool
        • Route Graph Generation LIF Editor
        • Route Graph Generation
      • Description
      • Demonstration
  • Plugin Tutorials
    • Writing a New Costmap2D Plugin
      • Overview
      • Requirements
      • Tutorial Steps
        • 1- Write a new Costmap2D plugin
        • 2- Export and make GradientLayer plugin
        • 3- Enable the plugin in Costmap2D
        • 4- Run GradientLayer plugin
    • Writing a New Planner Plugin
      • Overview
      • Requirements
      • Tutorial Steps
        • 1- Creating a new Planner Plugin
        • 2- Exporting the planner plugin
        • 3- Pass the plugin name through params file
        • 4- Run StraightLine plugin
    • Writing a New Controller Plugin
      • Overview
      • Requirements
      • Tutorial Steps
        • 1- Create a new Controller Plugin
        • 2- Exporting the controller plugin
        • 3- Pass the plugin name through the params file
        • 4- Run Pure Pursuit Controller plugin
    • Writing a New Behavior Tree Plugin
      • Overview
      • Requirements
      • Tutorial Steps
        • 1- Creating a new BT Plugin
        • 2- Exporting the planner plugin
        • 3- Add plugin library name to config
        • 4- Run Your Custom plugin
      • Using custom types for Input/Output ports
      • Visualize the content of the blackboard in Groot 2 (PRO)
    • Writing a New Behavior Plugin
      • Overview
      • Requirements
      • Tutorial Steps
        • 1- Creating a new Behavior Plugin
        • 2- Exporting the Behavior Plugin
        • 3- Pass the plugin name through params file
        • 4- Run Behavior Plugin
    • Writing a New Navigator Plugin
      • Overview
      • Requirements
      • Tutorial Steps
        • 1- Create a new Navigator Plugin
        • 2- Exporting the navigator plugin
        • 3- Pass the plugin name through the params file
        • 4- Run plugin
  • Configuration Guide
    • Behavior-Tree Navigator
      • Parameters
      • NavigateToPose Parameters
      • NavigateThroughPoses Parameters
      • Example
    • Behavior Tree XML Nodes
      • Action Plugins
        • Wait
        • Spin
        • BackUp
        • DriveOnHeading
        • AssistedTeleop
        • ComputePathToPose
        • ComputeRoute
        • ComputeAndTrackRoute
        • FollowPath
        • NavigateToPose
        • ClearEntireCostmap
        • ClearCostmapExceptRegion
        • ClearCostmapAroundRobot
        • ReinitializeGlobalLocalization
        • TruncatePath
        • TruncatePathLocal
        • PlannerSelector
        • ControllerSelector
        • SmootherSelector
        • GoalCheckerSelector
        • ProgressCheckerSelector
        • NavigateThroughPoses
        • ComputePathThroughPoses
        • ComputeCoveragePath
        • CancelCoverage
        • RemovePassedGoals
        • RemoveInCollisionGoals
        • CancelControl
        • CancelBackUp
        • CancelSpin
        • CancelWait
        • CancelDriveOnHeading
        • CancelAssistedTeleop
        • CancelComputeAndTrackRoute
        • SmoothPath
        • GetPoseFromPath
        • DockRobot
        • UndockRobot
        • ConcatenatePaths
        • GetCurrentPose
        • AppendGoalPoseToGoals
        • ExtractRouteNodesAsGoals
        • GetNextFewGoals
      • Condition Plugins
        • GoalReached
        • TransformAvailable
        • DistanceTraveled
        • GoalUpdated
        • GlobalUpdatedGoal
        • InitialPoseReceived
        • IsStuck
        • IsStopped
        • TimeExpired
        • IsBatteryLow
        • IsPathValid
        • PathExpiringTimer
        • AreErrorCodesPresent
        • WouldAControllerRecoveryHelp
        • WouldAPlannerRecoveryHelp
        • WouldASmootherRecoveryHelp
        • WouldARouteRecoveryHelp
        • IsBatteryCharging
        • ArePosesNear
      • Control Plugins
        • PipelineSequence
        • RoundRobin
        • RecoveryNode
      • Decorator Plugins
        • RateController
        • DistanceController
        • SpeedController
        • GoalUpdater
        • PathLongerOnApproach
        • SingleTrigger
        • GoalUpdatedController
      • Example
    • Costmap 2D
      • Costmap2D ROS Parameters
      • Default Plugins
      • Plugin Parameters
        • Static Layer Parameters
        • Inflation Layer Parameters
        • Obstacle Layer Parameters
        • Voxel Layer Parameters
        • Range Sensor Parameters
        • Denoise Layer Parameters
        • Plugin Container Layer Parameters
      • Costmap Filters Parameters
        • Keepout Filter Parameters
        • Speed Filter Parameters
        • Binary Filter Parameters
      • Example
    • Lifecycle Manager
      • Parameters
      • Example
    • Planner Server
      • Parameters
      • Default Plugins
      • Example
    • Coverage Server
      • Parameters
      • Example
    • NavFn Planner
      • Parameters
      • Example
    • Smac Planner
      • Provided Plugins
        • Smac 2D Planner
        • Smac Hybrid-A* Planner
        • Smac State Lattice Planner
      • Description
    • Theta Star Planner
      • Parameters
      • Example
    • Controller Server
      • Parameters
      • Provided Plugins
        • SimpleProgressChecker
        • PoseProgressChecker
        • SimpleGoalChecker
        • StoppedGoalChecker
        • PositionGoalChecker
      • Default Plugins
      • Example
    • DWB Controller
      • Controller
        • DWB Controller
        • XYTheta Iterator
        • Kinematic Parameters
        • Publisher
      • Plugins
        • LimitedAccelGenerator
        • StandardTrajectoryGenerator
      • Trajectory Critics
        • BaseObstacleCritic
        • GoalAlignCritic
        • GoalDistCritic
        • ObstacleFootprintCritic
        • OscillationCritic
        • PathAlignCritic
        • PathDistCritic
        • PreferForwardCritic
        • RotateToGoalCritic
        • TwirlingCritic
      • Example
    • Regulated Pure Pursuit
      • Regulated Pure Pursuit Parameters
      • Example
    • Model Predictive Path Integral Controller
      • MPPI Parameters
        • Trajectory Visualization
        • Path Handler
        • Ackermann Motion Model
        • Constraint Critic
        • Goal Angle Critic
        • Goal Critic
        • Obstacles Critic
        • Cost Critic
        • Path Align Critic
        • Path Angle Critic
        • Path Follow Critic
        • Prefer Forward Critic
        • Twirling Critic
        • Velocity Deadband Critic
      • Example
      • Notes to Users
        • General Words of Wisdom
        • Prediction Horizon, Costmap Sizing, and Offsets
        • Obstacle, Inflation Layer, and Path Following
    • Rotation Shim Controller
      • Rotation Shim Controller Parameters
      • Example
    • Graceful Controller
      • Graceful Controller Parameters
      • Example
    • Map Server / Saver
      • Map Saver Parameters
      • Map Server Parameters
      • Costmap Filter Info Server Parameters
      • Example
    • AMCL
      • Parameters
      • Example
    • Behavior Server
      • Behavior Server Parameters
      • Default Plugins
      • Spin Behavior Parameters
      • BackUp Behavior Parameters
      • DriveOnHeading Behavior Parameters
      • AssistedTeleop Behavior Parameters
      • Example
    • Smoother Server
      • Smoother Server Parameters
      • Example
    • Simple Smoother
      • Simple Smoother Parameters
      • Example
    • Savitzky-Golay Smoother
      • Savitzky-Golay Smoother Parameters
      • Example
    • Constrained smoother
      • Smoother Server Parameters
      • Example
    • Velocity Smoother
      • Velocity Smoother Parameters
      • Example
    • Collision Monitor
      • Provided Nodes
        • Collision Monitor Node
        • Collision Detector Node
    • Waypoint Follower
      • Parameters
      • Provided Plugins
        • WaitAtWaypoint
        • PhotoAtWaypoint
        • InputAtWaypoint
      • Default Plugin
      • Example
    • Loopback Simulator
      • Parameters
      • Example
    • Docking Server
      • Parameters
      • SimpleChargingDock Parameters
      • Example
    • Route Server
      • Server Parameters
      • Edge Scorer Parameters
        • CostmapScorer
        • DistanceScorer
        • TimeScorer
        • PenaltyScorer
        • SemanticScorer
        • StartPoseOrientationScorer
        • GoalPoseOrientationScorer
        • DynamicEdgesScorer
      • Route Operations Parameters
        • AdjustSpeedLimit
        • CollisionMonitor
        • TimeMarker
        • ReroutingService
        • TriggerEvent
      • Example
      • Configuring the Nav2 Route Server Demo
  • Tuning Guide
    • Inflation Potential Fields
    • Robot Footprint vs Radius
    • Rotate in Place Behavior
    • Planner Plugin Selection
    • Controller Plugin Selection
    • Caching Obstacle Heuristic in Smac Planners
    • Costmap2D Plugins
    • Nav2 Launch Options
    • Other Pages We’d Love To Offer
  • Nav2 Behavior Trees
    • Introduction To Nav2 Specific Nodes
      • Action Nodes
      • Condition Nodes
      • Decorator Nodes
      • Control: PipelineSequence
      • Control: Recovery
      • Control: RoundRobin
    • Detailed Behavior Tree Walkthrough
      • Overview
      • Prerequisites
      • Navigate To Pose With Replanning and Recovery
      • Navigation Subtree
      • Recovery Subtree
    • Navigate To Pose
    • Navigate Through Poses
    • Navigate To Pose and Pause Near Goal-Obstacle
    • Navigate To Pose With Consistent Replanning And If Path Becomes Invalid
    • Navigate on Route Graph with Recovery
    • Follow Dynamic Point
    • Odometry Calibration
  • Navigation Plugins
    • Behavior-Tree Navigators
    • Costmap Layers
    • Costmap Filters
    • Controllers
    • Planners
    • Smoothers
    • Behaviors
    • Waypoint Task Executors
    • Goal Checkers
    • Progress Checkers
    • Behavior Tree Nodes
    • Route Plugins
      • Edge Scorers
      • Route Operations
      • Graph File Parsers
  • Migration Guides
    • Dashing to Eloquent
      • New Packages
      • New Plugins
      • Navigation2 Architectural Changes
    • Eloquent to Foxy
      • General
      • Server Updates
      • New Plugins
      • Map Server Re-Work
      • New Particle Filter Messages
      • Selection of Behavior Tree in each navigation action
      • FollowPoint Capability
      • New Costmap Layer
    • Foxy to Galactic
      • NavigateToPose Action Feedback updates
      • NavigateToPose BT-node Interface Changes
      • NavigateThroughPoses and ComputePathThroughPoses Actions Added
      • ComputePathToPose BT-node Interface Changes
      • ComputePathToPose Action Interface Changes
      • BackUp BT-node Interface Changes
      • BackUp Recovery Interface Changes
      • Nav2 Controllers and Goal Checker Plugin Interface Changes
      • FollowPath goal_checker_id attribute
      • Groot Support
      • New Plugins
      • Costmap Filters
      • SmacPlanner
      • ThetaStarPlanner
      • RegulatedPurePursuitController
      • Costmap2D current_ Usage
      • Standard time units in parameters
      • Ray Tracing Parameters
      • Obstacle Marking Parameters
      • Recovery Action Changes
      • Default Behavior Tree Changes
      • NavFn Planner Parameters
      • New ClearCostmapExceptRegion and ClearCostmapAroundRobot BT-nodes
      • New Behavior Tree Nodes
      • sensor_msgs/PointCloud to sensor_msgs/PointCloud2 Change
      • ControllerServer New Parameter failure_tolerance
      • Removed BT XML Launch Configurations
      • Nav2 RViz Panel Action Feedback Information
    • Galactic to Humble
      • Major improvements to Smac Planners
      • Simple (Python) Commander
      • Reduce Nodes and Executors
      • API Change for nav2_core
      • Extending the BtServiceNode to process Service-Results
      • Including new Rotation Shim Controller Plugin
      • Spawning the robot in Gazebo
      • Recovery Behavior Timeout
      • New parameter use_final_approach_orientation for the 3 2D planners
      • SmacPlanner2D and Theta*: fix goal orientation being ignored
      • SmacPlanner2D, NavFn and Theta*: fix small path corner cases
      • Change and fix behavior of dynamic parameter change detection
      • Dynamic Parameters
      • BT Action Nodes Exception Changes
      • BT Navigator Groot Multiple Navigators
      • Removed Kinematic Limiting in RPP
      • Added Smoother Task Server
      • Removed Use Approach Velocity Scaling Param in RPP
      • Refactored AMCL motion models as plugins
      • Dropping Support for Live Groot Monitoring of Nav2
      • Replanning Only if Path is Invalid
      • Fix CostmapLayer clearArea invert param logic
      • Dynamic Composition
      • BT Cancel Node
      • BT PathLongerOnApproach Node
      • BT TruncatePathLocal Node
      • Constrained Smoother
      • Replanning at a Constant Rate and if the Path is Invalid
      • Euclidean Distance 2D
      • Recovery To Behavior
      • Respawn Support in Launch and Lifecycle Manager
      • New Nav2 Velocity Smoother
      • Goal Checker API Changed
      • Added Assisted Teleop
    • Humble to Iron
      • New Behavior-Tree Navigator Plugins
      • Added Collision Monitor
      • Removed use_sim_time from yaml
      • Run-time Speed up of Smac Planner
      • Recursive Refinement of Smac and Simple Smoothers
      • Simple Commander Python API
      • Smac Planner Start Pose Included in Path
      • Parameterizable Collision Checking in RPP
      • Expanded Planner Benchmark Tests
      • Smac Planner Path Tolerances
      • costmap_2d_node default constructor
      • Feedback for Navigation Failures
      • Costmap Filters
      • Savitzky-Golay Smoother
      • Changes to Map yaml file path for map_server node in Launch
      • SmootherSelector BT Node
      • Publish Costmap Layers
      • Give Behavior Server Access to Both Costmaps
      • New Model Predictive Path Integral Controller
      • Behavior Tree Uses Error Codes
      • Load, Save and Loop Waypoints from the Nav2 Panel in RViz
      • DWB Forward vs Reverse Pruning
      • More stable regulation on curves for long lookahead distances
      • Publish Collision Monitor State
      • Renamed ROS-parameter in Collision Monitor
      • New safety behavior model “limit” in Collision Monitor
      • Velocity smoother applies deceleration when timeout
      • PoseProgressChecker plugin
      • Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type
      • IsBatteryChargingCondition BT Node
      • Behavior Server Error Codes
      • New Denoise Costmap Layer Plugin
      • SmacPlannerHybrid viz_expansions parameter
    • Iron to Jazzy
      • BehaviorTree.CPP upgraded to version 4.5+
      • Added TwistStamped Option for Commands
      • Add VelocityPolygon in Collision Monitor
      • Change polygon points parameter format in Collision Monitor
      • Introduction of Soft-Real Time Action Servers
      • opennav_coverage Project
      • opennav_docking Project
      • Introduce a new Multi-Robot Bringup Launch
      • New option for the Voxel and Obstacle Layers
      • use_interpolation RPP Parameter Depreciated
      • Changes to MPPI Goal Critic
      • Changes to MPPI Path Angle Critic
      • Changes to MPPI Path Handling For Directionality
      • Addition of new MPPI Cost Critic
      • MPPI Acceleration
      • Move Error Code Enumerations
      • Substitution in parameter file
      • Allow Behavior Server Plugins to Access The Action Result
      • Smac Planner Debug Param Name Change
      • Smac Planner On Approach to Goal Shortcutting Solutions
      • Added GPS Waypoint Follower Server
      • Smac Planner Hybrid-A* New Features
      • New node in nav2_collision_monitor: Collision Detector
      • Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector
      • Expose action server’s result timeout
      • RewrittenYaml could add new parameters to YAMLs
      • Simple Commander API Allows Multi-Robot Namespacing
      • Change duration type in wait_action node
      • The costmap activation fails when required transforms are not available
      • Subtrees Obtain Shared Resources
      • Collision Monitor: added watchdog mechanism based on source_timeout parameter with default blocking behavior
      • BtActionServer: use native library haltTree()
      • Global Frame Removed from 2 BT Nodes
      • Introduction of CostmapUpdate.msg
      • Full Stack Uses Node Clocks
      • New Graceful Motion Controller
      • Plugin Libraries in BT Navigator Only Includes Custom Nodes
      • New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers
      • RPP new optional interpolate_curvature_after_goal behavior and fix conflict between use_rotate_to_heading and allow_reversing
      • Cancel Checker Interface For GlobalPlanner
      • New BtActionServer/BtNavigator parameter
      • New collision monitor parameter
      • New graceful cancellation API for Controllers
      • Standardization of Plugin Naming with Double Colons (::)
      • Collision monitor: dynamic radius for circle type polygons
      • Static Layer: new parameter footprint_clearing_enabled
      • Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)
      • Rotation Shim Controller: new parameter rotate_to_goal_heading
      • MPPI Controller: Addition of acceleration constraints
      • RegulatedPurePursuit Controller [RPP]: new parameter use_cancel_deceleration
    • Jazzy to Kilted
      • Nav2 Route Server
      • BehaviorTree error_msg
      • TwistStamped Default CmdVel Change
      • New Nav2 Loopback Simulator
      • Docking with Static Infrastructure or Dynamic Docking
      • New RViz panel for Docking
      • BT Nodes Changes
      • New RViz Tool for Costmap Cost Cell Inspection
      • Fix flickering visualization
      • Option to limit velocity through DWB trajectory
      • Option to disable zero velocity publishing on goal exit
      • Rotation Shim Disengagement Threshold
      • Added optional collision checking for the Docking Server
      • Revamped multirobot bringup and config files to use namespaces
      • Removed global map_topic from Costmap node
      • Simplified Costmap2DROS constructors
      • Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions
      • New Plugin Container Layer
      • Iterative Target Selection for the Graceful Controller
      • Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
      • ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use nav_msgs/Goals instead of vector<PoseStamped>
      • MPPI controller re-implemented using Eigen library and performance improved by 40-45%
      • Enable goal orientation non-specificity
      • DriveOnHeading and BackUp behaviors: Addition of acceleration constraints
      • Rotation Shim Deceleration as a function of its target orientation
      • Rotation Shim Open-loop Control
      • Near collision cost in MPPI cost critic
      • Service introspection
      • Rotation Shim Using Path Orientations
      • MPPI - Publishing Optimal Trajectory
      • NavigateThroughPoses - Reporting waypoint statuses information
      • Groot 2 Support
      • Docking backwards as plugin parameter
      • New Position Goal Checker
      • Docking backwards without sensor
      • RegulatedPurePursuit Controller [RPP]: new parameter stateful
      • Controller Server Frequency Removed Dynamic Parameter
      • Default bringup supports keepout, speed zones, and route planning
    • Kilted to L-turtle
      • Removed Parameter action_server_result_timeout
  • Simple Commander API
    • Overview
    • Commander API
    • Costmap API
    • Footprint Collision Checker API
    • Examples and Demos
  • Roadmaps
    • Jazzy Roadmap
    • Iron Roadmap
    • Humble Roadmap
  • About and Contact
    • Related Projects
    • About
    • Contact
  • Maintainer Docs
    • ROS Distribution Release Process
      • 0. Initial Freeze
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  • Navigation Plugins

Navigation Plugins

There are a number of plugin interfaces for users to create their own custom applications or algorithms with. Namely, the costmap layer, planner, controller, behavior tree, and behavior plugins. A list of all known plugins are listed here below for ROS 2 Navigation. If you know of a plugin, or you have created a new plugin, please consider submitting a pull request with that information.

This file can be found and edited under sphinx_docs/plugins/index.rst. For tutorials on creating your own plugins, please see Writing a New Costmap2D Plugin, Writing a New Behavior Tree Plugin, Writing a New Controller Plugin, Writing a New Planner Plugin, Writing a New Behavior Plugin, or Writing a New Navigator Plugin.

Behavior-Tree Navigators

Plugin Name

Creator

Description

NavigateToPoseNavigator

Steve Macenski

Point-to-point navigation via a behavior tree action server

NavigateThroughPosesNavigator

Steve Macenski

Point-through-points navigation via a behavior tree action server

CoverageNavigator

Steve Macenski

Complete coverage navigation (Cartesian or GPS) via a BTs

Costmap Layers

Plugin Name

Creator

Description

Voxel Layer

Eitan Marder-Eppstein

Maintains persistent 3D voxel layer using depth and laser sensor readings and raycasting to clear free space

Range Layer

David Lu

Uses a probabilistic model to put data from sensors that publish range msgs on the costmap

Static Layer

Eitan Marder-Eppstein

Gets static map and loads occupancy information into costmap

Inflation Layer

Eitan Marder-Eppstein

Inflates lethal obstacles in costmap with exponential decay

Obstacle Layer

Eitan Marder-Eppstein

Maintains persistent 2D costmap from 2D laser scans with raycasting to clear free space

Spatio-Temporal Voxel Layer

Steve Macenski

Maintains temporal 3D sparse volumetric voxel grid with decay through sensor models

Non-Persistent Voxel Layer

Steve Macenski

Maintains 3D occupancy grid consisting only of the most sets of measurements

Denoise Layer

Andrey Ryzhikov

Filters noise-induced standalone obstacles or small obstacles groups

Plugin Container Layer

Alexander Yuen

Combines the different costmap layers specified under this layer in order populate the same costmap with different isolated combinations of costmap layers

Costmap Filters

Plugin Name

Creator

Description

Keepout Filter

Alexey Merzlyakov

Maintains keep-out/safety zones and preferred lanes for moving

Speed Filter

Alexey Merzlyakov

Limits maximum velocity of robot in speed restriction areas

Binary Filter

Alexey Merzlyakov

Enables binary (boolean) mask behavior to trigger actions.

Controllers

Plugin Name

Creator

Description

Drivetrain support

DWB Controller

David Lu!!

A highly configurable DWA implementation with plugin interfaces

Differential, Omnidirectional, Legged

TEB Controller

Christoph Rösmann

A MPC-like controller suitable for ackermann, differential, and holonomic robots.

Ackermann, Legged, Omnidirectional, Differential

Regulated Pure Pursuit

Steve Macenski

A service / industrial robot variation on the pure pursuit algorithm with adaptive features.

Ackermann, Legged, Differential

MPPI Controller

Steve Macenski Aleksei Budyakov

A predictive MPC controller with modular & custom cost functions that can accomplish many tasks.

Differential, Omni, Ackermann

Rotation Shim Controller

Steve Macenski

A “shim” controller to rotate to path heading before passing to main controller for tracking.

Differential, Omni, model rotate in place

Graceful Controller

Alberto Tudela

A controller based on a pose-following control law to generate smooth trajectories.

Differential, Omni, Legged

Vector Pursuit Controller

Black Coffee Robotics

A controller based on the vector pursuit algorithm useful for high speed accurate path tracking.

Differential, Ackermann, Legged,

Planners

Plugin Name

Creator

Description

Drivetrain support

NavFn Planner

Eitan Marder-Eppstein & Kurt Konolige

A navigation function using A* or Dijkstras expansion, assumes 2D holonomic particle

Differential, Omnidirectional, Legged

SmacPlannerHybrid

(formerly SmacPlanner)

Steve Macenski

A SE2 Hybrid-A* implementation using either Dubin or Reeds-shepp motion models with smoother and multi-resolution query. Cars, car-like, and ackermann vehicles. Kinematically feasible.

Ackermann, Differential, Omnidirectional, Legged

SmacPlanner2D

Steve Macenski

A 2D A* implementation Using either 4 or 8 connected neighborhoods with smoother and multi-resolution query

Differential, Omnidirectional, Legged

SmacPlannerLattice

Steve Macenski

An implementation of State Lattice Planner using pre-generated minimum control sets for kinematically feasible planning with any type of vehicle imaginable. Includes generator script for Ackermann, diff, omni, and legged robots.

Differential, Omnidirectional, Ackermann, Legged, Arbitrary / Custom

ThetaStarPlanner

Anshumaan Singh

An implementation of Theta* using either 4 or 8 connected neighborhoods, assumes the robot as a 2D holonomic particle

Differential, Omnidirectional

Smoothers

Plugin Name

Creator

Description

Simple Smoother

Steve Macenski

A simple path smoother for infeasible (e.g. 2D) planners

Constrained Smoother

Matej Vargovcik & Steve Macenski

A path smoother using a constraints problem solver to optimize various criteria such as smoothness or distance from obstacles, maintaining minimum turning radius

Savitzky-Golay Smoother

Steve Macenski

A path smoother using a Savitzky-Golay filter to smooth the path via digital signal processing to remove noise from the path.

Behaviors

Plugin Name

Creator

Description

Clear Costmap

Eitan Marder-Eppstein

A service to clear the given costmap in case of incorrect perception or robot is stuck

Spin

Steve Macenski

Rotate behavior of configurable angles to clear out free space and nudge robot out of potential local failures

Back Up

Brian Wilcox

Back up behavior of configurable distance to back out of a situation where the robot is stuck

Wait

Steve Macenski

Wait behavior with configurable time to wait in case of time based obstacle like human traffic or getting more sensor data

Drive On Heading

Joshua Wallace

Drive on heading behavior with configurable distance to drive

Assisted Teleop

Joshua Wallace

AssistedTeleop behavior that scales teleop commands to prevent collisions.

Waypoint Task Executors

Plugin Name

Creator

Description

WaitAtWaypoint

Fetullah Atas

A plugin to execute a wait behavior on waypoint arrivals.

PhotoAtWaypoint

Fetullah Atas

A plugin to take and save photos to specified directory on waypoint arrivals.

InputAtWaypoint

Steve Macenski

A plugin to wait for user input before moving onto the next waypoint.

Goal Checkers

Plugin Name

Creator

Description

SimpleGoalChecker

David Lu!!

A plugin check whether robot is within translational distance and rotational distance of goal.

StoppedGoalChecker

David Lu!!

A plugin check whether robot is within translational distance , rotational distance of goal, and velocity threshold.

PositionGoalChecker

Prabhav Saxena

A plugin check whether robot is within translational distance of goal, without requiring rotational convergence.

Progress Checkers

Plugin Name

Creator

Description

SimpleProgressChecker

David Lu!!

A plugin to check whether the robot was able to move a minimum distance in a given time to make progress towards a goal

PoseProgressChecker

Guillaume Doisy

A plugin to check whether the robot was able to move a minimum distance or angle in a given time to make progress towards a goal

Behavior Tree Nodes

Action Plugin Name

Creator

Description

Back Up Action

Michael Jeronimo

Calls backup behavior action

Drive On Heading Action

Joshua Wallace

Calls drive on heading behavior action

Assisted Teleop Action

Joshua Wallace

Calls assisted teleop behavior action

Clear Entire Costmap Service

Carl Delsey

Calls clear entire costmap service

Clear Costmap Except Region Service

Guillaume Doisy

Calls clear costmap except region service

Clear Costmap Around Robot Service

Guillaume Doisy

Calls clear costmap around robot service

Compute Path to Pose Action

Michael Jeronimo

Calls Nav2 planner server

Smooth Path Action

Matej Vargovcik

Calls Nav2 smoother server

Follow Path Action

Michael Jeronimo

Calls Nav2 controller server

Navigate to Pose Action

Michael Jeronimo

BT Node for other BehaviorTree.CPP BTs to call Navigation2 as a subtree action

Reinitialize Global Localization Service

Carl Delsey

Reinitialize AMCL to a new pose

Spin Action

Carl Delsey

Calls spin behavior action

Wait Action

Steve Macenski

Calls wait behavior action

Truncate Path

Francisco Martín

Modifies a path making it shorter

Truncate Path Local

Matej Vargovcik

Extracts a path section around robot

Planner Selector

Pablo Iñigo Blasco

Selects the global planner based on a topic input, otherwises uses a default planner id

Controller Selector

Pablo Iñigo Blasco

Selects the controller based on a topic input, otherwises uses a default controller id

Goal Checker Selector

Pablo Iñigo Blasco

Selects the goal checker based on a topic input, otherwises uses a default goal checker id

Smoother Selector

Owen Hooper

Selects the smoother based on a topic input, otherwises uses a default smoother id

Progress Checker Selector

Steve Macenski

Selects the progress checker based on a topic input, otherwises uses a default progress checker id

Navigate Through Poses

Steve Macenski

BT Node for other BehaviorTree.CPP BTs to call Nav2’s NavThroughPoses action

Remove Passed Goals

Steve Macenski

Removes goal poses passed or within a tolerance for culling old viapoints from path re-planning

Remove In Collision Goals

Tony Najjar

Removes goal poses that have a footprint or point cost above a threshold.

Compute Path Through Poses

Steve Macenski

Computes a path through a set of poses rather than a single end goal pose using the planner plugin specified

Compute Route

Steve Macenski

Computes a Route through a navigation graph and returns both a dense path and set of sparse route nodes and edges.

Compute And Track Route

Steve Macenski

Computes a Route as above, but also actively tracks progress and triggers route contextual semantic operations.

Cancel Control Action

Pradheep Padmanabhan

Cancels Nav2 controller server

Cancel BackUp Action

Pradheep Padmanabhan

Cancels backup behavior action

Cancel Spin Action

Pradheep Padmanabhan

Cancels spin behavior action

Cancel Wait Action

Pradheep Padmanabhan

Cancels wait behavior action

Cancel Route Action

Steve Macenski

Cancels ComputeAndTrackRoute action

Cancel Drive on Heading Action

Joshua Wallace

Cancels drive on heading behavior action

Cancel Assisted Teleop Action

Joshua Wallace

Cancels assisted teleop behavior action

Cancel Complete Coverage Action

Steve Macenski

Cancels compute complete coverage

Compute Complete Coverage Path Action

Steve Macenski

Calls coverage planner server

Get Pose From Path Action

Marc Morcos

Extracts a pose from a path

Dock Robot Action

Steve Macenski

Calls dock robot action

Undock Robot Action

Steve Macenski

Calls undock robot action

Concatenate Paths Action

Steve Macenski

Concatenates 2 paths together

Get Current Pose Action

Steve Macenski

Gets current pose to the blackboard

Append Goal Pose To Goals Action

Steve Macenski

Appends a goal pose to a goals vector

Extract Route Nodes To Goals Action

Steve Macenski

Converts Route Nodes to Goals

Get Next Few Goals Action

Steve Macenski

Obtains the next N goals in a goal vector

Condition Plugin Name

Creator

Description

Goal Reached Condition

Carl Delsey

Checks if goal is reached within tol.

Goal Updated Condition

Aitor Miguel Blanco

Checks if goal is preempted.

Global Updated Goal Condition

Joshua Wallace

Checks if goal is preempted in the global BT context

Initial Pose received Condition

Carl Delsey

Checks if initial pose has been set

Is Stuck Condition

Michael Jeronimo

Checks if robot is making progress or stuck

Is Stopped Condition

Tony Najjar

Checks if robot is stopped for a duration

Transform Available Condition

Steve Macenski

Checks if a TF transformation is available. When succeeds returns success for subsequent calls.

Distance Traveled Condition

Sarthak Mittal

Checks is robot has traveled a given distance.

Time Expired Condition

Sarthak Mittal

Checks if a given time period has passed.

Is Battery Low Condition

Sarthak Mittal

Checks if battery percentage is below a specified value.

Is Path Valid Condition

Joshua Wallace

Checks if a path is valid by making sure there are no LETHAL obstacles along the path.

Path Expiring Timer

Joshua Wallace

Checks if the timer has expired. The timer is reset if the path gets updated.

Are Error Codes Present

Joshua Wallace

Checks if the specified error codes are present.

Would A Controller Recovery Help

Joshua Wallace

Checks if a controller recovery could help clear the controller server error code.

Would A Planner Recovery Help

Joshua Wallace

Checks if a planner recovery could help clear the planner server error code.

Would A Smoother Recovery Help

Joshua Wallace

Checks if a Smoother recovery could help clear the smoother server error code.

`Would A Route Recovery Help`_

Steve Macenski

Checks if a Route recovery could help clear the route server error code.

Is Battery Charging Condition

Alberto Tudela

Checks if the battery is charging.

Are Poses Near Condition

Steve Macenski

Checks if 2 poses are nearby to each other.

Decorator Plugin Name

Creator

Description

Rate Controller

Michael Jeronimo

Throttles child node to a given rate

Distance Controller

Sarthak Mittal

Ticks child node based on the distance traveled by the robot

Speed Controller

Sarthak Mittal

Throttles child node to a rate based on current robot speed.

Goal Updater

Francisco Martín

Updates the goal received via topic subscription.

Single Trigger

Steve Macenski

Triggers nodes/subtrees below only a single time per BT run.

PathLongerOnApproach

Pradheep Padmanabhan

Triggers child nodes if the new global path is significantly larger than the old global path on approach to the goal

GoalUpdatedController

Sophia Koffler

Ticks child node if the goal has been updated

Control Plugin Name

Creator

Description

Pipeline Sequence

Carl Delsey

A variant of a sequence node that will re-tick previous children even if another child is running

Recovery

Carl Delsey

Node must contain 2 children and returns success if first succeeds. If first fails, the second will be ticked. If successful, it will retry the first and then return its value

Round Robin

Mohammad Haghighipanah

Will tick i th child until a result and move on to i+1

Route Plugins

Edge Scorers

Plugin Name

Creator

Description

DistanceScorer

Steve Macenski

Scores an edge’s length, optionally scaled by relative speed limits.

TimeScorer

Steve Macenski

Scores and edge traversal time using absolute speed limits or previous traversal times.

PenaltyScorer

Steve Macenski

Scores using a static semantic penalty.

SemanticScorer

Steve Macenski

Scores using stored semantic data regarding the edge and/or nodes.

StartPoseOrientationScorer

Alex Yuen

Scores based on the initial pose and start edge orientations.

GoalPoseOrientationScorer

Alex Yuen

Scores based on the goal pose and goal edge orientations.

DynamicEdgesScorer

Steve Macenski

Scores based on a dynamically set service cost and/or closure.

Route Operations

Plugin Name

Creator

Description

AdjustSpeedLimit

Steve Macenski

Adjusts robot speed limits using an edge’s semantic data.

CollisionMoniter

Steve Macenski

Checks for collision in the immediate future which tracking a route.

TimeMarker

Steve Macenski

Records the traversal time for an edge in the edge’s metadata.

ReroutingService

Steve Macenski

Triggers a rereoute from an external server.

TriggerEvent

Steve Macenski

Triggers an event based on a configurable server name.

Graph File Parsers

Currently, only geojson parsing is supported.


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