Documentation Status

Cannot load information on name: nav2d, distro: electric, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: nav2d, distro: fuerte, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
nav2d: nav2d_exploration | nav2d_karto | nav2d_localizer | nav2d_msgs | nav2d_navigator | nav2d_operator | nav2d_remote | nav2d_tutorials

Package Summary

Documented

Meta-Package containing modules for 2D-Navigation

nav2d: nav2d_exploration | nav2d_karto | nav2d_localizer | nav2d_msgs | nav2d_navigator | nav2d_operator | nav2d_remote | nav2d_tutorials

Package Summary

Released Continuous integration Documented

Meta-Package containing modules for 2D-Navigation

nav2d: nav2d_exploration | nav2d_karto | nav2d_localizer | nav2d_msgs | nav2d_navigator | nav2d_operator | nav2d_remote | nav2d_tutorials

Package Summary

Released Continuous integration Documented

Meta-Package containing modules for 2D-Navigation

Cannot load information on name: nav2d, distro: lunar, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

What can it do

nav2d.jpg

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.

Installation

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:

    ros-<release-name>-nav2d_operator
    ros-<release-name>-nav2d_navigator
    ros-<release-name>-nav2d_exploration
    ros-<release-name>-nav2d_karto
    ros-<release-name>-nav2d_remote
    ros-<release-name>-nav2d_msgs
    ros-<release-name>-nav2d_tutorials

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]

Wiki: nav2d (last edited 2017-07-21 07:46:02 by SebastianKasperski)