Navigation2

Nav2 provides the production-grade navigation stack for ROS 2, enabling autonomous mobile robots to plan paths and avoid obstacles in real-time.

Nav2 (the successor to the original ROS Navigation Stack) is the standard for autonomous movement in ROS 2 environments like Humble and Jazzy. It leverages BehaviorTree.CPP to orchestrate complex tasks: path planning, recovery behaviors, and waypoint following. Operators use modular plugins (such as the Smac Planner for global routing and the DWB controller for local obstacle avoidance) to tune performance for specific chassis types (differential, omnidirectional, or ackermann). This framework handles everything from costmap generation to precise localization via AMCL or SLAM Toolbox integration.

https://navigation.ros.org/