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What can it do


This set of libraries and ROS nodes allows to control a mobile robot within a planar environment. The main features are a purely reactive obstacle avoidance, a simple path planner, and a graph based SLAM (Simultaneous Localization and Mapping) node that allows multiple robots to cooperatively build a map. By using an exploration plugin for the navigation module, one or more robots can autonomously explore there working space and create a shared map for navigation on all robots.


This stack is developed using the catkin tool-chain. An older version is available that uses ROS Fuerte and rosbuild tool-chain, but has not been updated after the move to Hydro. To build the costmap_2d package is required, which is included in ros-navigation.

Binary installation

To install the complete stack from debian packages:

    apt-get install ros-<release-name>-nav2d

If you don't want all the dependencies and only need a certain package, you can install every package separately:


From source

    source /opt/ros/<release-name>/setup.bash
    cd catkin_ws/src
    git clone https://github.com/skasperski/navigation_2d
    cd ..
    catkin_make -DCMAKE_BUILD_TYPE=Release
    source catkin_ws/devel/setup.bash

How to start

To check if all packages are working correctly, you can run the launch files located in the nav2d_tutorials package. This will use a joystick to semi-autonomous control a simulated robot in Stage. A more in-detail description can be found in the Tutorials. To start the tests you need to have the following packages additionally installed:

Then you can start the tests with

roslaunch nav2d_tutorials tutorial1.launch

Asking Questions

If you have a Question concerning any of the nav2d-packages, please post your question at ROS-Answers and add the tag "nav2d".

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

2024-07-20 13:23