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ros-navigation/navigation2

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Navigation Concepts

This page is to help familiarize new roboticists to the concepts of mobile robot navigation, in particular, with the concepts required to appreciating and working with this project.

  • ROS 2

    Foundation middleware for Nav2's communication and lifecycle management.

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  • Behavior Trees

    Task orchestration: how Nav2 coordinates planning, control, and recovery.

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  • Navigation Servers

    The modular server architecture: planners, controllers, behaviors, and more.

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  • State Estimation

    Localization, odometry, and sensor fusion for robot pose tracking.

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  • Environmental Representation

    Costmaps, map servers, and how the robot perceives its surroundings.

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