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Execution and Control

Nav2

Nav2 is the ROS 2 navigation stack for planning, controlling, recovering, and executing autonomous robot navigation tasks.

NavigationROS 2 / C++ / Python launch filesCode Linked
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Tool Introduction

Core parameters, trigger timing, and visual before/after demo references.

Short Explanation

Use Nav2 to send a mobile robot from its current pose to a goal while handling planning, control, and recovery behaviors.

InputMap, localization, costmaps, start and goal poses
OutputPath, velocity commands, behavior-tree execution state
Trigger TimingTriggered when the ROS launch file receives synchronized sensor streams.
RuntimeROS 2 / C++ / Python launch files
BeforeMap, localization, costmaps, start and goal poses

Prepare the scene, image, video, sensor stream, prompt, or configuration expected by the original project.

AfterPath, velocity commands, behavior-tree execution state

Read the produced visualization, prediction, map, trajectory, mask, grasp pose, or other documented artifact.

Parameters And Output

Readable controls and the meaning of each returned artifact.

Parameter Explanation

mappath

Occupancy map and metadata used by global planning.

goal_posetext

Target x, y, and orientation for navigation.

behavior_treepath

Behavior tree that coordinates planning, control, and recovery.

Output Explanation

planned_path

Path returned by the selected global planner.

cmd_vel

Velocity commands produced by the controller.

navigation_result

Action status and recovery outcome for the navigation request.

How To Use

Official resources, deployment steps, academic context, citation, and source-reported benchmark numbers.

Deployment Notes

  1. Install the Nav2 packages matching the target ROS 2 distribution.
  2. Configure maps, localization, planners, controllers, costmaps, and behavior trees.
  3. Use RViz and action feedback to inspect paths, costmaps, and execution status.

Relative Path Example

ros2 launch nav2_bringup navigation_launch.py
ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose '{pose: ...}'

Expected Result Shape

{
  "tool": "nav2",
  "status": "ok",
  "results": [
    {
      "label": "ROS 2 navigation",
      "score": 0.87,
      "output": "Path, velocity commands, behavior-tree execution state"
    }
  ],
  "timing": {
    "runtime": "Deployment-specific; measure action success rate, path length, recovery count, and controller loop timing on the target robot.",
    "device": "documented in source benchmark when available"
  },
  "artifacts": {
    "visualization": "tools/nav2/runs/visualization.png",
    "raw_predictions": "tools/nav2/runs/predictions.json"
  }
}
Paper figure

Academic Info

Paper identity and contribution summary.

TitleNavigation2: A ROS 2 Navigation Framework
AuthorsAdd authors
VenueAdd venue
ContributionProvides modular planners, controllers, costmaps, recoveries, and behavior-tree orchestration for robot navigation.

Citation

@misc{nav2YEAR,
  title={Navigation2: A ROS 2 Navigation Framework},
  author={Author},
  year={YEAR},
  note={Add venue or arXiv identifier},
  url={https://github.com/ros-navigation/navigation2}
}

Benchmark

Only compact, source-reported numbers are shown here.

DatasetMetricValueRuntimeSource
Nav2 is a ROS 2 navigation framework; the official docs do not publish one canonical benchmark dataset or score for the whole stack.Core resultNo single official source-reported numeric benchmark is used here because results depend on robot platform, planner/controller plugin, map, costmap settings, localization, and behavior tree.Deployment-specific; measure action success rate, path length, recovery count, and controller loop timing on the target robot.Add source

Artifacts

Official Nav2 docs, package configuration, RViz/costmap traces, action feedback, and local navigation logs.

Demo Images

Visual references from the original tool. Click any image to inspect the original size.