NAV2

An open-source, production-grade autonomy framework trusted by 300+ companies worldwide. Building on 15 years of heritage to accelerate the robotics industry.

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Overview

Nav2 is the professionally-supported successor of the ROS Navigation Stack deploying the same kinds of technology powering Autonomous Vehicles brought down, optimized, and reworked for mobile and surface robotics. This project allows for mobile robots to navigate through complex environments to complete user-defined application tasks with nearly any class of robot kinematics and dynamics; shape size; indoor or outdoor, or sensor configuration. Not only can it move from Point A to Point B, but it can have intermediary poses, and represent other types of tasks like object following, complete coverage navigation, and more. Nav2 is a production-grade and high-quality navigation framework trusted by 300+ companies worldwide.

It provides perception, planning, control, localization, visualization, behaviors, and much more to build highly reliable autonomous systems. This will compute an environmental model from sensor and semantic data, dynamically route a path through the environment, compute feasible motor commands, avoid obstacles, and structures higher-level robot behaviors.

Nav2 uses behavior trees to create customized and intelligent navigation behavior via orchestrating many independent modular servers. A task server can be used to compute a path, control effort, behavior, or any other navigation related task. These separate servers communicate with the behavior tree (BT) over a ROS interface such as an action server or service. A robot may utilize potentially many different behavior trees to allow a robot to perform many types of unique and complex tasks. A task server may have multiple plugins for controllers, planners, and behaviors to create contextual navigation behaviors.

We also provide a set of starting plugins to get you going. A list of all plugins can be found on Navigation Plugins - but they include algorithms for the spanning cross section of common behaviors and robot platform types.