<<StackHeader(nav2d)>>

== What can it do ==

{{attachment:nav2d.jpg||width="100%"}}

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 [[nav2d/Tutorials|Tutorials]]. To start the tests you need to have the following packages additionally installed:
 * [[stage_ros]]
 * [[joy]]
 * [[rviz]]
 * [[p2os_urdf]] (optional for robot model only)

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 [[http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:nav2d/page:1/|ROS-Answers]] and add the tag "nav2d".

== Report a Bug ==

<<GitHubIssues(skasperski/navigation_2d)>> 

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