├── .circleci ├── config.yml └── defaults.yaml ├── .devcontainer ├── caddy │ ├── Caddyfile │ └── srv │ │ ├── assets │ │ ├── foxglove │ │ │ ├── manifest.json │ │ │ └── nav2_layout.json │ │ ├── glances │ │ │ └── manifest.json │ │ ├── gzweb │ │ │ └── manifest.json │ │ └── nav2 │ │ │ └── manifest.json │ │ └── nav2 │ │ ├── github-markdown.css │ │ ├── index.html │ │ └── index.md ├── devcontainer.json ├── on-create-command.sh ├── post-create-command.sh └── update-content-command.sh ├── .dockerignore ├── .github ├── ISSUE_TEMPLATE.md ├── ISSUE_TEMPLATE │ ├── bug_report.md │ ├── configuration-or-tuning-help.md │ └── feature_request.md ├── PULL_REQUEST_TEMPLATE.md ├── dependabot.yml ├── mergify.yml └── workflows │ ├── build_main_against_distros.yml │ ├── claude.yml │ ├── claude_oauth.yml │ ├── lint.yml │ └── update_ci_image.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── .vscode └── tasks.json ├── CONTRIBUTING.md ├── Dockerfile ├── Doxyfile ├── LICENSE ├── README.md ├── codecov.yml ├── doc ├── README.md ├── architecture │ └── Navigation-System.eap ├── design │ ├── CostmapFilters_design.pdf │ ├── NavigationSystemTasks.png │ └── Navigation_2_Overview.pdf ├── development │ └── codespaces.md ├── nav2_logo.png ├── process │ └── PreReleaseChecklist.md ├── requirements │ ├── _template_requirement.md │ ├── images │ │ ├── Command-Pipeline-Support.png │ │ ├── Command-Pipeline.png │ │ ├── Command-Pipeline.vsdx │ │ ├── Context.png │ │ ├── Mapping-Use-Cases.png │ │ ├── Mission-Execution-Use-Cases.png │ │ ├── Mission-Planning-Use-Cases.png │ │ ├── Navigation-System.png │ │ └── With-Support-Modules.png │ └── requirements.md ├── sponsors_feb_2024.png ├── sponsors_jan_2024.png ├── sponsors_jan_2025.png ├── sponsors_july_2025.png ├── sponsors_may_2023.png ├── sponsors_oct_2025.png ├── sponsors_sept_2025.png └── use_cases │ ├── README.md │ ├── _template_use_case.md │ ├── collision_avoidance_use_case.md │ ├── indoor_localization_use_case.md │ ├── indoor_navigation_use_case.md │ ├── keep_out_zones_use_case.md │ ├── multi-story-building_use_case.md │ ├── outdoor_localization_use_case.md │ └── outdoor_navigation_use_case.md ├── nav2_amcl ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_amcl │ │ ├── amcl_node.hpp │ │ ├── angleutils.hpp │ │ ├── map │ │ └── map.hpp │ │ ├── motion_model │ │ ├── differential_motion_model.hpp │ │ ├── motion_model.hpp │ │ └── omni_motion_model.hpp │ │ ├── pf │ │ ├── eig3.hpp │ │ ├── pf.hpp │ │ ├── pf_kdtree.hpp │ │ ├── pf_pdf.hpp │ │ └── pf_vector.hpp │ │ ├── portable_utils.hpp │ │ └── sensors │ │ └── laser │ │ └── laser.hpp ├── package.xml ├── plugins.xml ├── src │ ├── amcl_node.cpp │ ├── main.cpp │ ├── map │ │ ├── map.c │ │ ├── map_cspace.cpp │ │ ├── map_draw.c │ │ └── map_range.c │ ├── motion_model │ │ ├── differential_motion_model.cpp │ │ └── omni_motion_model.cpp │ ├── pf │ │ ├── eig3.c │ │ ├── pf.c │ │ ├── pf_draw.c │ │ ├── pf_kdtree.c │ │ ├── pf_pdf.c │ │ └── pf_vector.c │ └── sensors │ │ └── laser │ │ ├── beam_model.cpp │ │ ├── laser.cpp │ │ ├── likelihood_field_model.cpp │ │ └── likelihood_field_model_prob.cpp └── test │ ├── CMakeLists.txt │ └── test_dynamic_parameters.cpp ├── nav2_behavior_tree ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── doc │ ├── hierarchy.odg │ └── hierarchy.svg ├── groot_instructions.md ├── include │ └── nav2_behavior_tree │ │ ├── behavior_tree_engine.hpp │ │ ├── bt_action_node.hpp │ │ ├── bt_action_server.hpp │ │ ├── bt_action_server_impl.hpp │ │ ├── bt_cancel_action_node.hpp │ │ ├── bt_service_node.hpp │ │ ├── bt_utils.hpp │ │ ├── json_utils.hpp │ │ ├── plugins │ │ ├── action │ │ │ ├── append_goal_pose_to_goals_action.hpp │ │ │ ├── assisted_teleop_action.hpp │ │ │ ├── assisted_teleop_cancel_node.hpp │ │ │ ├── back_up_action.hpp │ │ │ ├── back_up_cancel_node.hpp │ │ │ ├── clear_costmap_service.hpp │ │ │ ├── compute_and_track_route_action.hpp │ │ │ ├── compute_and_track_route_cancel_node.hpp │ │ │ ├── compute_path_through_poses_action.hpp │ │ │ ├── compute_path_to_pose_action.hpp │ │ │ ├── compute_route_action.hpp │ │ │ ├── concatenate_paths_action.hpp │ │ │ ├── controller_cancel_node.hpp │ │ │ ├── controller_selector_node.hpp │ │ │ ├── drive_on_heading_action.hpp │ │ │ ├── drive_on_heading_cancel_node.hpp │ │ │ ├── extract_route_nodes_as_goals_action.hpp │ │ │ ├── follow_object_action.hpp │ │ │ ├── follow_object_cancel_node.hpp │ │ │ ├── follow_path_action.hpp │ │ │ ├── get_current_pose_action.hpp │ │ │ ├── get_next_few_goals_action.hpp │ │ │ ├── get_pose_from_path_action.hpp │ │ │ ├── goal_checker_selector_node.hpp │ │ │ ├── navigate_through_poses_action.hpp │ │ │ ├── navigate_to_pose_action.hpp │ │ │ ├── planner_selector_node.hpp │ │ │ ├── progress_checker_selector_node.hpp │ │ │ ├── reinitialize_global_localization_service.hpp │ │ │ ├── remove_in_collision_goals_action.hpp │ │ │ ├── remove_passed_goals_action.hpp │ │ │ ├── smooth_path_action.hpp │ │ │ ├── smoother_selector_node.hpp │ │ │ ├── spin_action.hpp │ │ │ ├── spin_cancel_node.hpp │ │ │ ├── toggle_collision_monitor_service.hpp │ │ │ ├── truncate_path_action.hpp │ │ │ ├── truncate_path_local_action.hpp │ │ │ ├── wait_action.hpp │ │ │ └── wait_cancel_node.hpp │ │ ├── condition │ │ │ ├── are_error_codes_present_condition.hpp │ │ │ ├── are_poses_near_condition.hpp │ │ │ ├── distance_traveled_condition.hpp │ │ │ ├── globally_updated_goal_condition.hpp │ │ │ ├── goal_reached_condition.hpp │ │ │ ├── goal_updated_condition.hpp │ │ │ ├── initial_pose_received_condition.hpp │ │ │ ├── is_battery_charging_condition.hpp │ │ │ ├── is_battery_low_condition.hpp │ │ │ ├── is_path_valid_condition.hpp │ │ │ ├── is_pose_occupied_condition.hpp │ │ │ ├── is_stopped_condition.hpp │ │ │ ├── is_stuck_condition.hpp │ │ │ ├── path_expiring_timer_condition.hpp │ │ │ ├── time_expired_condition.hpp │ │ │ ├── transform_available_condition.hpp │ │ │ ├── would_a_controller_recovery_help_condition.hpp │ │ │ ├── would_a_planner_recovery_help_condition.hpp │ │ │ ├── would_a_route_recovery_help_condition.hpp │ │ │ └── would_a_smoother_recovery_help_condition.hpp │ │ ├── control │ │ │ ├── nonblocking_sequence.hpp │ │ │ ├── pause_resume_controller.hpp │ │ │ ├── persistent_sequence.hpp │ │ │ ├── pipeline_sequence.hpp │ │ │ ├── recovery_node.hpp │ │ │ └── round_robin_node.hpp │ │ └── decorator │ │ │ ├── distance_controller.hpp │ │ │ ├── goal_updated_controller.hpp │ │ │ ├── goal_updater_node.hpp │ │ │ ├── path_longer_on_approach.hpp │ │ │ ├── rate_controller.hpp │ │ │ ├── single_trigger_node.hpp │ │ │ └── speed_controller.hpp │ │ ├── ros_topic_logger.hpp │ │ └── utils │ │ ├── loop_rate.hpp │ │ └── test_action_server.hpp ├── nav2_tree_nodes.xml ├── package.xml ├── plugins │ ├── action │ │ ├── append_goal_pose_to_goals_action.cpp │ │ ├── assisted_teleop_action.cpp │ │ ├── assisted_teleop_cancel_node.cpp │ │ ├── back_up_action.cpp │ │ ├── back_up_cancel_node.cpp │ │ ├── clear_costmap_service.cpp │ │ ├── compute_and_track_route_action.cpp │ │ ├── compute_and_track_route_cancel_node.cpp │ │ ├── compute_path_through_poses_action.cpp │ │ ├── compute_path_to_pose_action.cpp │ │ ├── compute_route_action.cpp │ │ ├── concatenate_paths_action.cpp │ │ ├── controller_cancel_node.cpp │ │ ├── controller_selector_node.cpp │ │ ├── drive_on_heading_action.cpp │ │ ├── drive_on_heading_cancel_node.cpp │ │ ├── extract_route_nodes_as_goals_action.cpp │ │ ├── follow_object_action.cpp │ │ ├── follow_object_cancel_node.cpp │ │ ├── follow_path_action.cpp │ │ ├── get_current_pose_action.cpp │ │ ├── get_next_few_goals_action.cpp │ │ ├── get_pose_from_path_action.cpp │ │ ├── goal_checker_selector_node.cpp │ │ ├── navigate_through_poses_action.cpp │ │ ├── navigate_to_pose_action.cpp │ │ ├── planner_selector_node.cpp │ │ ├── progress_checker_selector_node.cpp │ │ ├── reinitialize_global_localization_service.cpp │ │ ├── remove_in_collision_goals_action.cpp │ │ ├── remove_passed_goals_action.cpp │ │ ├── smooth_path_action.cpp │ │ ├── smoother_selector_node.cpp │ │ ├── spin_action.cpp │ │ ├── spin_cancel_node.cpp │ │ ├── toggle_collision_monitor_service.cpp │ │ ├── truncate_path_action.cpp │ │ ├── truncate_path_local_action.cpp │ │ ├── wait_action.cpp │ │ └── wait_cancel_node.cpp │ ├── condition │ │ ├── are_error_codes_present_condition.cpp │ │ ├── are_poses_near_condition.cpp │ │ ├── distance_traveled_condition.cpp │ │ ├── globally_updated_goal_condition.cpp │ │ ├── goal_reached_condition.cpp │ │ ├── goal_updated_condition.cpp │ │ ├── initial_pose_received_condition.cpp │ │ ├── is_battery_charging_condition.cpp │ │ ├── is_battery_low_condition.cpp │ │ ├── is_path_valid_condition.cpp │ │ ├── is_pose_occupied_condition.cpp │ │ ├── is_stopped_condition.cpp │ │ ├── is_stuck_condition.cpp │ │ ├── path_expiring_timer_condition.cpp │ │ ├── time_expired_condition.cpp │ │ ├── transform_available_condition.cpp │ │ ├── would_a_controller_recovery_help_condition.cpp │ │ ├── would_a_planner_recovery_help_condition.cpp │ │ ├── would_a_route_recovery_help_condition.cpp │ │ └── would_a_smoother_recovery_help_condition.cpp │ ├── control │ │ ├── nonblocking_sequence.cpp │ │ ├── pause_resume_controller.cpp │ │ ├── persistent_sequence.cpp │ │ ├── pipeline_sequence.cpp │ │ ├── recovery_node.cpp │ │ └── round_robin_node.cpp │ └── decorator │ │ ├── distance_controller.cpp │ │ ├── goal_updated_controller.cpp │ │ ├── goal_updater_node.cpp │ │ ├── path_longer_on_approach.cpp │ │ ├── rate_controller.cpp │ │ ├── single_trigger_node.cpp │ │ └── speed_controller.cpp ├── plugins_list.hpp.in ├── src │ ├── behavior_tree_engine.cpp │ └── generate_nav2_tree_nodes_xml.cpp └── test │ ├── CMakeLists.txt │ ├── plugins │ ├── action │ │ ├── CMakeLists.txt │ │ ├── test_append_goal_pose_to_goals_action.cpp │ │ ├── test_assisted_teleop_action.cpp │ │ ├── test_assisted_teleop_cancel_node.cpp │ │ ├── test_back_up_action.cpp │ │ ├── test_back_up_cancel_node.cpp │ │ ├── test_bt_action_node.cpp │ │ ├── test_clear_costmap_service.cpp │ │ ├── test_compute_and_track_route_action.cpp │ │ ├── test_compute_and_track_route_cancel_node.cpp │ │ ├── test_compute_path_through_poses_action.cpp │ │ ├── test_compute_path_to_pose_action.cpp │ │ ├── test_compute_route_action.cpp │ │ ├── test_concatenate_paths_action.cpp │ │ ├── test_controller_cancel_node.cpp │ │ ├── test_controller_selector_node.cpp │ │ ├── test_drive_on_heading_action.cpp │ │ ├── test_drive_on_heading_cancel_node.cpp │ │ ├── test_extract_route_nodes_as_goals_action.cpp │ │ ├── test_follow_object_action.cpp │ │ ├── test_follow_object_cancel_node.cpp │ │ ├── test_follow_path_action.cpp │ │ ├── test_get_current_pose_action.cpp │ │ ├── test_get_next_few_goals_action.cpp │ │ ├── test_get_pose_from_path_action.cpp │ │ ├── test_goal_checker_selector_node.cpp │ │ ├── test_navigate_through_poses_action.cpp │ │ ├── test_navigate_to_pose_action.cpp │ │ ├── test_planner_selector_node.cpp │ │ ├── test_progress_checker_selector_node.cpp │ │ ├── test_reinitialize_global_localization_service.cpp │ │ ├── test_remove_in_collision_goals_action.cpp │ │ ├── test_remove_passed_goals_action.cpp │ │ ├── test_smooth_path_action.cpp │ │ ├── test_smoother_selector_node.cpp │ │ ├── test_spin_action.cpp │ │ ├── test_spin_cancel_node.cpp │ │ ├── test_toggle_collision_monitor_service.cpp │ │ ├── test_truncate_path_action.cpp │ │ ├── test_truncate_path_local_action.cpp │ │ ├── test_wait_action.cpp │ │ └── test_wait_cancel_node.cpp │ ├── condition │ │ ├── CMakeLists.txt │ │ ├── test_are_error_codes_present.cpp │ │ ├── test_are_poses_near.cpp │ │ ├── test_distance_traveled.cpp │ │ ├── test_globally_updated_goal.cpp │ │ ├── test_goal_reached.cpp │ │ ├── test_goal_updated.cpp │ │ ├── test_initial_pose_received.cpp │ │ ├── test_is_battery_charging.cpp │ │ ├── test_is_battery_low.cpp │ │ ├── test_is_path_valid.cpp │ │ ├── test_is_pose_occupied.cpp │ │ ├── test_is_stopped.cpp │ │ ├── test_is_stuck.cpp │ │ ├── test_path_expiring_timer.cpp │ │ ├── test_time_expired.cpp │ │ ├── test_transform_available.cpp │ │ ├── test_would_a_controller_recovery_help.cpp │ │ ├── test_would_a_planner_recovery_help.cpp │ │ ├── test_would_a_route_recovery_help.cpp │ │ └── test_would_a_smoother_recovery_help.cpp │ ├── control │ │ ├── CMakeLists.txt │ │ ├── test_nonblocking_sequence.cpp │ │ ├── test_pause_resume_controller.cpp │ │ ├── test_persistent_sequence.cpp │ │ ├── test_pipeline_sequence.cpp │ │ ├── test_recovery_node.cpp │ │ └── test_round_robin_node.cpp │ └── decorator │ │ ├── CMakeLists.txt │ │ ├── test_distance_controller.cpp │ │ ├── test_goal_updated_controller.cpp │ │ ├── test_goal_updater_node.cpp │ │ ├── test_path_longer_on_approach.cpp │ │ ├── test_rate_controller.cpp │ │ ├── test_single_trigger_node.cpp │ │ └── test_speed_controller.cpp │ ├── test_bt_utils.cpp │ ├── test_json_utils.cpp │ └── utils │ ├── get_node_from_tree.hpp │ ├── test_behavior_tree_fixture.hpp │ ├── test_dummy_tree_node.hpp │ ├── test_service.hpp │ └── test_transform_handler.hpp ├── nav2_behaviors ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── behavior_plugin.xml ├── include │ └── nav2_behaviors │ │ ├── behavior_server.hpp │ │ ├── plugins │ │ ├── assisted_teleop.hpp │ │ ├── back_up.hpp │ │ ├── drive_on_heading.hpp │ │ ├── spin.hpp │ │ └── wait.hpp │ │ └── timed_behavior.hpp ├── package.xml ├── plugins │ ├── assisted_teleop.cpp │ ├── back_up.cpp │ ├── drive_on_heading.cpp │ ├── spin.cpp │ └── wait.cpp ├── src │ ├── behavior_server.cpp │ └── main.cpp └── test │ ├── CMakeLists.txt │ └── test_behaviors.cpp ├── nav2_bringup ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── graphs │ ├── depot_graph.geojson │ ├── turtlebot3_graph.geojson │ └── warehouse_graph.geojson ├── launch │ ├── bringup_launch.py │ ├── cloned_multi_tb3_simulation_launch.py │ ├── keepout_zone_launch.py │ ├── localization_launch.py │ ├── navigation_launch.py │ ├── rviz_launch.py │ ├── slam_launch.py │ ├── speed_zone_launch.py │ ├── tb3_loopback_simulation_launch.py │ ├── tb3_simulation_launch.py │ ├── tb4_loopback_simulation_launch.py │ ├── tb4_simulation_launch.py │ └── unique_multi_tb3_simulation_launch.py ├── maps │ ├── depot.pgm │ ├── depot.yaml │ ├── depot_keepout.pgm │ ├── depot_keepout.yaml │ ├── depot_speed.pgm │ ├── depot_speed.yaml │ ├── tb3_sandbox.pgm │ ├── tb3_sandbox.yaml │ ├── warehouse.pgm │ ├── warehouse.yaml │ ├── warehouse_keepout.pgm │ ├── warehouse_keepout.yaml │ ├── warehouse_speed.pgm │ └── warehouse_speed.yaml ├── package.xml ├── params │ └── nav2_params.yaml └── rviz │ └── nav2_default_view.rviz ├── nav2_bt_navigator ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── behavior_trees │ ├── follow_point.xml │ ├── nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml │ ├── navigate_on_route_graph_w_recovery.xml │ ├── navigate_through_poses_w_replanning_and_recovery.xml │ ├── navigate_to_pose_w_replanning_and_recovery.xml │ ├── navigate_to_pose_w_replanning_goal_patience_and_recovery.xml │ ├── navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml │ ├── navigate_w_replanning_distance.xml │ ├── navigate_w_replanning_only_if_goal_is_updated.xml │ ├── navigate_w_replanning_only_if_path_becomes_invalid.xml │ ├── navigate_w_replanning_speed.xml │ ├── navigate_w_replanning_time.xml │ ├── navigate_w_routing_global_planning_and_control_w_recovery.xml │ └── odometry_calibration.xml ├── doc │ ├── follow_point.png │ ├── legend.png │ ├── navigate_w_replanning_distance.png │ ├── navigate_w_replanning_time.png │ ├── parallel_w_goal_patience_and_recovery.png │ ├── parallel_w_recovery.png │ ├── recovery_node.png │ └── recovery_w_goal_updated.png ├── include │ └── nav2_bt_navigator │ │ ├── bt_navigator.hpp │ │ └── navigators │ │ ├── navigate_through_poses.hpp │ │ └── navigate_to_pose.hpp ├── navigator_plugins.xml ├── package.xml └── src │ ├── bt_navigator.cpp │ ├── main.cpp │ └── navigators │ ├── navigate_through_poses.cpp │ └── navigate_to_pose.cpp ├── nav2_collision_monitor ├── CMakeLists.txt ├── README.md ├── doc │ ├── HLD.png │ ├── cm_ros_devday.png │ ├── dexory_velocity_polygon.gif │ └── polygons.png ├── include │ └── nav2_collision_monitor │ │ ├── circle.hpp │ │ ├── collision_detector_node.hpp │ │ ├── collision_monitor_node.hpp │ │ ├── costmap.hpp │ │ ├── kinematics.hpp │ │ ├── pointcloud.hpp │ │ ├── polygon.hpp │ │ ├── polygon_source.hpp │ │ ├── range.hpp │ │ ├── scan.hpp │ │ ├── source.hpp │ │ ├── types.hpp │ │ └── velocity_polygon.hpp ├── launch │ ├── collision_detector_node.launch.py │ └── collision_monitor_node.launch.py ├── package.xml ├── params │ ├── collision_detector_params.yaml │ └── collision_monitor_params.yaml ├── src │ ├── circle.cpp │ ├── collision_detector_main.cpp │ ├── collision_detector_node.cpp │ ├── collision_monitor_main.cpp │ ├── collision_monitor_node.cpp │ ├── costmap.cpp │ ├── kinematics.cpp │ ├── pointcloud.cpp │ ├── polygon.cpp │ ├── polygon_source.cpp │ ├── range.cpp │ ├── scan.cpp │ ├── source.cpp │ └── velocity_polygon.cpp └── test │ ├── CMakeLists.txt │ ├── bags │ └── cm_moving_obstacle │ │ ├── _tmp_cm_bag_0.mcap.zstd │ │ ├── fake_cm_bag_source.py │ │ └── metadata.yaml │ ├── collision_detector_node_test.cpp │ ├── collision_monitor_node_bag.cpp │ ├── collision_monitor_node_bag.yaml │ ├── collision_monitor_node_test.cpp │ ├── kinematics_test.cpp │ ├── polygons_test.cpp │ ├── sources_test.cpp │ ├── test_collision_monitor_node_bag.py │ └── velocity_polygons_test.cpp ├── nav2_common ├── CMakeLists.txt ├── cmake │ └── nav2_package.cmake ├── nav2_common-extras.cmake ├── nav2_common │ ├── __init__.py │ └── launch │ │ ├── __init__.py │ │ ├── has_node_params.py │ │ ├── launch_config_as_bool.py │ │ ├── replace_string.py │ │ └── rewritten_yaml.py ├── package.xml └── test │ ├── test_launch_config_as_bool.py │ └── test_rewritten_yaml.py ├── nav2_constrained_smoother ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_constrained_smoother │ │ ├── constrained_smoother.hpp │ │ ├── options.hpp │ │ ├── smoother.hpp │ │ ├── smoother_cost_function.hpp │ │ └── utils.hpp ├── nav2_constrained_smoother.xml ├── package.xml ├── src │ └── constrained_smoother.cpp └── test │ ├── CMakeLists.txt │ ├── test_constrained_smoother.cpp │ └── test_smoother_cost_function.cpp ├── nav2_controller ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_controller │ │ ├── controller_server.hpp │ │ └── plugins │ │ ├── pose_progress_checker.hpp │ │ ├── position_goal_checker.hpp │ │ ├── simple_goal_checker.hpp │ │ ├── simple_progress_checker.hpp │ │ └── stopped_goal_checker.hpp ├── package.xml ├── plugins.xml ├── plugins │ ├── pose_progress_checker.cpp │ ├── position_goal_checker.cpp │ ├── simple_goal_checker.cpp │ ├── simple_progress_checker.cpp │ ├── stopped_goal_checker.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── goal_checker.cpp │ │ └── progress_checker.cpp ├── src │ ├── controller_server.cpp │ └── main.cpp └── test │ ├── CMakeLists.txt │ └── test_dynamic_parameters.cpp ├── nav2_core ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_core │ │ ├── behavior.hpp │ │ ├── behavior_tree_navigator.hpp │ │ ├── controller.hpp │ │ ├── controller_exceptions.hpp │ │ ├── global_planner.hpp │ │ ├── goal_checker.hpp │ │ ├── planner_exceptions.hpp │ │ ├── progress_checker.hpp │ │ ├── route_exceptions.hpp │ │ ├── smoother.hpp │ │ ├── smoother_exceptions.hpp │ │ └── waypoint_task_executor.hpp └── package.xml ├── nav2_costmap_2d ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── costmap_plugins.xml ├── include │ └── nav2_costmap_2d │ │ ├── clear_costmap_service.hpp │ │ ├── cost_values.hpp │ │ ├── costmap_2d.hpp │ │ ├── costmap_2d_publisher.hpp │ │ ├── costmap_2d_ros.hpp │ │ ├── costmap_filters │ │ ├── binary_filter.hpp │ │ ├── costmap_filter.hpp │ │ ├── filter_values.hpp │ │ ├── keepout_filter.hpp │ │ └── speed_filter.hpp │ │ ├── costmap_layer.hpp │ │ ├── costmap_math.hpp │ │ ├── costmap_subscriber.hpp │ │ ├── costmap_topic_collision_checker.hpp │ │ ├── denoise │ │ ├── image.hpp │ │ └── image_processing.hpp │ │ ├── denoise_layer.hpp │ │ ├── exceptions.hpp │ │ ├── footprint.hpp │ │ ├── footprint_collision_checker.hpp │ │ ├── footprint_subscriber.hpp │ │ ├── inflation_layer.hpp │ │ ├── layer.hpp │ │ ├── layered_costmap.hpp │ │ ├── observation.hpp │ │ ├── observation_buffer.hpp │ │ ├── obstacle_layer.hpp │ │ ├── plugin_container_layer.hpp │ │ ├── range_sensor_layer.hpp │ │ ├── static_layer.hpp │ │ └── voxel_layer.hpp ├── package.xml ├── plugins │ ├── costmap_filters │ │ ├── binary_filter.cpp │ │ ├── costmap_filter.cpp │ │ ├── keepout_filter.cpp │ │ └── speed_filter.cpp │ ├── denoise_layer.cpp │ ├── inflation_layer.cpp │ ├── obstacle_layer.cpp │ ├── plugin_container_layer.cpp │ ├── range_sensor_layer.cpp │ ├── static_layer.cpp │ └── voxel_layer.cpp ├── src │ ├── clear_costmap_service.cpp │ ├── costmap_2d.cpp │ ├── costmap_2d_cloud.cpp │ ├── costmap_2d_markers.cpp │ ├── costmap_2d_node.cpp │ ├── costmap_2d_publisher.cpp │ ├── costmap_2d_ros.cpp │ ├── costmap_layer.cpp │ ├── costmap_math.cpp │ ├── costmap_subscriber.cpp │ ├── costmap_topic_collision_checker.cpp │ ├── footprint.cpp │ ├── footprint_collision_checker.cpp │ ├── footprint_subscriber.cpp │ ├── layer.cpp │ ├── layered_costmap.cpp │ └── observation_buffer.cpp └── test │ ├── CMakeLists.txt │ ├── benchmark │ ├── CMakeLists.txt │ └── observation_buffer_benchmark.cpp │ ├── costmap_params.yaml │ ├── integration │ ├── CMakeLists.txt │ ├── costmap_tester.cpp │ ├── costmap_tests_launch.py │ ├── dyn_params_tests.cpp │ ├── footprint_tests.cpp │ ├── inflation_tests.cpp │ ├── obstacle_tests.cpp │ ├── plugin_container_tests.cpp │ ├── range_tests.cpp │ ├── test_costmap_2d_publisher.cpp │ ├── test_costmap_subscriber.cpp │ └── test_costmap_topic_collision_checker.cpp │ ├── map │ ├── TenByTen.pgm │ └── TenByTen.yaml │ ├── module_tests.cpp │ ├── regression │ ├── CMakeLists.txt │ ├── order_layer.cpp │ ├── order_layer.hpp │ ├── order_layer.xml │ └── plugin_api_order.cpp │ ├── simple_driving_test.xml │ ├── test_launch_files │ └── costmap_map_server.launch.py │ ├── testing_helper.hpp │ └── unit │ ├── CMakeLists.txt │ ├── binary_filter_test.cpp │ ├── coordinate_transform_test.cpp │ ├── copy_window_test.cpp │ ├── costmap_conversion_test.cpp │ ├── costmap_cost_service_test.cpp │ ├── costmap_filter_service_test.cpp │ ├── costmap_filter_test.cpp │ ├── declare_parameter_test.cpp │ ├── denoise_layer_test.cpp │ ├── footprint_collision_checker_test.cpp │ ├── image_processing_test.cpp │ ├── image_test.cpp │ ├── image_tests_helper.hpp │ ├── keepout_filter_test.cpp │ ├── keepout_filter_test.jpg │ ├── lifecycle_test.cpp │ ├── observation_buffer_test.cpp │ └── speed_filter_test.cpp ├── nav2_docking ├── LICENSE ├── README.md ├── docs │ ├── demo.gif │ └── nv_on.png ├── opennav_docking │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── opennav_docking │ │ │ ├── controller.hpp │ │ │ ├── dock_database.hpp │ │ │ ├── docking_server.hpp │ │ │ ├── navigator.hpp │ │ │ ├── pose_filter.hpp │ │ │ ├── simple_charging_dock.hpp │ │ │ ├── simple_non_charging_dock.hpp │ │ │ ├── types.hpp │ │ │ └── utils.hpp │ ├── package.xml │ ├── plugins.xml │ ├── src │ │ ├── controller.cpp │ │ ├── dock_database.cpp │ │ ├── docking_server.cpp │ │ ├── main.cpp │ │ ├── navigator.cpp │ │ ├── pose_filter.cpp │ │ ├── simple_charging_dock.cpp │ │ └── simple_non_charging_dock.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── dock_files │ │ ├── test_dock_bad_conversion_file.yaml │ │ ├── test_dock_bad_pose_file.yaml │ │ ├── test_dock_file.yaml │ │ ├── test_dock_no_pose_file.yaml │ │ ├── test_dock_no_type_file.yaml │ │ └── test_no_docks_file.yaml │ │ ├── docking_params.yaml │ │ ├── test_controller.cpp │ │ ├── test_dock_database.cpp │ │ ├── test_docking_server.py │ │ ├── test_docking_server_unit.cpp │ │ ├── test_navigator.cpp │ │ ├── test_pose_filter.cpp │ │ ├── test_simple_charging_dock.cpp │ │ ├── test_simple_non_charging_dock.cpp │ │ ├── test_utils.cpp │ │ └── testing_dock.cpp ├── opennav_docking_bt │ ├── CMakeLists.txt │ ├── README.md │ ├── behavior_trees │ │ └── application_example.xml │ ├── include │ │ └── opennav_docking_bt │ │ │ ├── dock_robot.hpp │ │ │ └── undock_robot.hpp │ ├── package.xml │ ├── src │ │ ├── dock_robot.cpp │ │ └── undock_robot.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── test_dock_robot.cpp │ │ └── test_undock_robot.cpp └── opennav_docking_core │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── opennav_docking_core │ │ ├── charging_dock.hpp │ │ ├── docking_exceptions.hpp │ │ └── non_charging_dock.hpp │ └── package.xml ├── nav2_dwb_controller ├── README.md ├── costmap_queue │ ├── CMakeLists.txt │ ├── include │ │ └── costmap_queue │ │ │ ├── costmap_queue.hpp │ │ │ ├── limited_costmap_queue.hpp │ │ │ └── map_based_queue.hpp │ ├── package.xml │ ├── src │ │ ├── costmap_queue.cpp │ │ └── limited_costmap_queue.cpp │ └── test │ │ ├── mbq_test.cpp │ │ └── utest.cpp ├── dwb_core │ ├── CMakeLists.txt │ ├── include │ │ └── dwb_core │ │ │ ├── dwb_local_planner.hpp │ │ │ ├── exceptions.hpp │ │ │ ├── illegal_trajectory_tracker.hpp │ │ │ ├── publisher.hpp │ │ │ ├── trajectory_critic.hpp │ │ │ ├── trajectory_generator.hpp │ │ │ └── trajectory_utils.hpp │ ├── local_planner_plugin.xml │ ├── package.xml │ ├── src │ │ ├── dwb_local_planner.cpp │ │ ├── illegal_trajectory_tracker.cpp │ │ ├── publisher.cpp │ │ └── trajectory_utils.cpp │ └── test │ │ ├── CMakeLists.txt │ │ └── utils_test.cpp ├── dwb_critics │ ├── CMakeLists.txt │ ├── default_critics.xml │ ├── include │ │ └── dwb_critics │ │ │ ├── alignment_util.hpp │ │ │ ├── base_obstacle.hpp │ │ │ ├── goal_align.hpp │ │ │ ├── goal_dist.hpp │ │ │ ├── line_iterator.hpp │ │ │ ├── map_grid.hpp │ │ │ ├── obstacle_footprint.hpp │ │ │ ├── oscillation.hpp │ │ │ ├── path_align.hpp │ │ │ ├── path_dist.hpp │ │ │ ├── prefer_forward.hpp │ │ │ ├── rotate_to_goal.hpp │ │ │ └── twirling.hpp │ ├── package.xml │ ├── src │ │ ├── alignment_util.cpp │ │ ├── base_obstacle.cpp │ │ ├── goal_align.cpp │ │ ├── goal_dist.cpp │ │ ├── map_grid.cpp │ │ ├── obstacle_footprint.cpp │ │ ├── oscillation.cpp │ │ ├── path_align.cpp │ │ ├── path_dist.cpp │ │ ├── prefer_forward.cpp │ │ ├── rotate_to_goal.cpp │ │ └── twirling.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── alignment_util_test.cpp │ │ ├── base_obstacle_test.cpp │ │ ├── obstacle_footprint_test.cpp │ │ ├── prefer_forward_test.cpp │ │ └── twirling_test.cpp ├── dwb_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── CriticScore.msg │ │ ├── LocalPlanEvaluation.msg │ │ ├── Trajectory2D.msg │ │ └── TrajectoryScore.msg │ ├── package.xml │ └── srv │ │ ├── DebugLocalPlan.srv │ │ ├── GenerateTrajectory.srv │ │ ├── GenerateTwists.srv │ │ ├── GetCriticScore.srv │ │ └── ScoreTrajectory.srv ├── dwb_plugins │ ├── CMakeLists.txt │ ├── include │ │ └── dwb_plugins │ │ │ ├── kinematic_parameters.hpp │ │ │ ├── limited_accel_generator.hpp │ │ │ ├── one_d_velocity_iterator.hpp │ │ │ ├── standard_traj_generator.hpp │ │ │ ├── velocity_iterator.hpp │ │ │ └── xy_theta_iterator.hpp │ ├── package.xml │ ├── plugins.xml │ ├── src │ │ ├── kinematic_parameters.cpp │ │ ├── limited_accel_generator.cpp │ │ ├── standard_traj_generator.cpp │ │ └── xy_theta_iterator.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── kinematic_parameters_test.cpp │ │ ├── speed_limit_test.cpp │ │ ├── twist_gen.cpp │ │ └── velocity_iterator_test.cpp ├── images │ ├── DWB_Structure_Simplified.svg │ └── LocalPlanner.svg ├── nav2_dwb_controller │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── nav_2d_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── Pose2D32.msg │ │ ├── Twist2D.msg │ │ ├── Twist2D32.msg │ │ └── Twist2DStamped.msg │ └── package.xml └── nav_2d_utils │ ├── CMakeLists.txt │ ├── include │ └── nav_2d_utils │ │ ├── conversions.hpp │ │ └── path_ops.hpp │ ├── package.xml │ ├── src │ ├── conversions.cpp │ └── path_ops.cpp │ └── test │ ├── 2d_utils_test.cpp │ ├── CMakeLists.txt │ └── path_ops_test.cpp ├── nav2_following └── opennav_following │ ├── CMakeLists.txt │ ├── include │ └── opennav_following │ │ └── following_server.hpp │ ├── package.xml │ ├── src │ ├── following_server.cpp │ └── main.cpp │ └── test │ ├── CMakeLists.txt │ ├── test_following_server.py │ └── test_following_server_unit.cpp ├── nav2_graceful_controller ├── CMakeLists.txt ├── README.md ├── doc │ └── trajectories.png ├── graceful_controller_plugin.xml ├── include │ └── nav2_graceful_controller │ │ ├── ego_polar_coords.hpp │ │ ├── graceful_controller.hpp │ │ ├── parameter_handler.hpp │ │ ├── path_handler.hpp │ │ ├── smooth_control_law.hpp │ │ └── utils.hpp ├── package.xml ├── src │ ├── graceful_controller.cpp │ ├── parameter_handler.cpp │ ├── path_handler.cpp │ ├── smooth_control_law.cpp │ └── utils.cpp └── test │ ├── CMakeLists.txt │ ├── test_egopolar.cpp │ └── test_graceful_controller.cpp ├── nav2_lifecycle_manager ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── doc │ ├── diagram_lifecycle_manager.JPG │ └── uml_lifecycle_manager.JPG ├── include │ └── nav2_lifecycle_manager │ │ ├── lifecycle_manager.hpp │ │ └── lifecycle_manager_client.hpp ├── package.xml ├── src │ ├── lifecycle_manager.cpp │ ├── lifecycle_manager_client.cpp │ └── main.cpp └── test │ ├── CMakeLists.txt │ ├── launch_bond_test.py │ ├── launch_lifecycle_test.py │ ├── test_bond.cpp │ └── test_lifecycle_manager.cpp ├── nav2_loopback_sim ├── README.md ├── launch │ └── loopback_simulation.launch.py ├── nav2_loopback_sim │ ├── loopback_simulator.py │ └── utils.py ├── package.xml ├── pytest.ini ├── resource │ └── nav2_loopback_sim ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── nav2_map_server ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── cmake_modules │ └── FindGRAPHICSMAGICKCPP.cmake ├── include │ └── nav2_map_server │ │ ├── costmap_filter_info_server.hpp │ │ ├── map_io.hpp │ │ ├── map_mode.hpp │ │ ├── map_saver.hpp │ │ ├── map_server.hpp │ │ ├── vector_object_server.hpp │ │ ├── vector_object_shapes.hpp │ │ └── vector_object_utils.hpp ├── launch │ ├── map_saver_server.launch.py │ └── vector_object_server.launch.py ├── package.xml ├── params │ └── vector_object_server_params.yaml ├── src │ ├── costmap_filter_info │ │ ├── costmap_filter_info_server.cpp │ │ └── main.cpp │ ├── map_io.cpp │ ├── map_mode.cpp │ ├── map_saver │ │ ├── main_cli.cpp │ │ ├── main_server.cpp │ │ └── map_saver.cpp │ ├── map_server │ │ ├── main.cpp │ │ └── map_server.cpp │ └── vo_server │ │ ├── main.cpp │ │ ├── vector_object_server.cpp │ │ └── vector_object_shapes.cpp └── test │ ├── CMakeLists.txt │ ├── component │ ├── CMakeLists.txt │ ├── test_map_saver_launch.py │ ├── test_map_saver_node.cpp │ ├── test_map_saver_publisher.cpp │ ├── test_map_server_launch.py │ └── test_map_server_node.cpp │ ├── invalid_image.yaml │ ├── map_saver_cli │ ├── CMakeLists.txt │ └── test_map_saver_cli.cpp │ ├── map_saver_params.yaml │ ├── map_server_params.yaml │ ├── test_constants.cpp │ ├── test_constants │ └── test_constants.h │ ├── test_launch_files │ ├── map_saver_node.launch.py │ └── map_server_node.launch.py │ ├── testmap.bmp │ ├── testmap.pgm │ ├── testmap.png │ ├── testmap.yaml │ └── unit │ ├── CMakeLists.txt │ ├── test_costmap_filter_info_server.cpp │ ├── test_map_io.cpp │ ├── test_vector_object_server.cpp │ └── test_vector_object_shapes.cpp ├── nav2_mppi_controller ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── benchmark │ ├── CMakeLists.txt │ ├── controller_benchmark.cpp │ └── optimizer_benchmark.cpp ├── critics.xml ├── include │ └── nav2_mppi_controller │ │ ├── controller.hpp │ │ ├── critic_data.hpp │ │ ├── critic_function.hpp │ │ ├── critic_manager.hpp │ │ ├── critics │ │ ├── constraint_critic.hpp │ │ ├── cost_critic.hpp │ │ ├── goal_angle_critic.hpp │ │ ├── goal_critic.hpp │ │ ├── obstacles_critic.hpp │ │ ├── path_align_critic.hpp │ │ ├── path_angle_critic.hpp │ │ ├── path_follow_critic.hpp │ │ ├── prefer_forward_critic.hpp │ │ ├── twirling_critic.hpp │ │ └── velocity_deadband_critic.hpp │ │ ├── models │ │ ├── constraints.hpp │ │ ├── control_sequence.hpp │ │ ├── optimizer_settings.hpp │ │ ├── path.hpp │ │ ├── state.hpp │ │ └── trajectories.hpp │ │ ├── motion_models.hpp │ │ ├── optimal_trajectory_validator.hpp │ │ ├── optimizer.hpp │ │ └── tools │ │ ├── noise_generator.hpp │ │ ├── parameters_handler.hpp │ │ ├── path_handler.hpp │ │ ├── trajectory_visualizer.hpp │ │ └── utils.hpp ├── media │ ├── critics_stats.png │ └── demo.gif ├── mppic.xml ├── package.xml ├── src │ ├── controller.cpp │ ├── critic_manager.cpp │ ├── critics │ │ ├── constraint_critic.cpp │ │ ├── cost_critic.cpp │ │ ├── goal_angle_critic.cpp │ │ ├── goal_critic.cpp │ │ ├── obstacles_critic.cpp │ │ ├── path_align_critic.cpp │ │ ├── path_angle_critic.cpp │ │ ├── path_follow_critic.cpp │ │ ├── prefer_forward_critic.cpp │ │ ├── twirling_critic.cpp │ │ └── velocity_deadband_critic.cpp │ ├── noise_generator.cpp │ ├── optimizer.cpp │ ├── parameters_handler.cpp │ ├── path_handler.cpp │ ├── trajectory_validators │ │ └── optimal_trajectory_validator.cpp │ └── trajectory_visualizer.cpp ├── test │ ├── CMakeLists.txt │ ├── controller_state_transition_test.cpp │ ├── critic_manager_test.cpp │ ├── critics_tests.cpp │ ├── models_test.cpp │ ├── motion_model_tests.cpp │ ├── noise_generator_test.cpp │ ├── optimizer_smoke_test.cpp │ ├── optimizer_unit_tests.cpp │ ├── parameter_handler_test.cpp │ ├── path_handler_test.cpp │ ├── trajectory_visualizer_tests.cpp │ ├── utils │ │ ├── factory.hpp │ │ ├── models.hpp │ │ └── utils.hpp │ └── utils_test.cpp └── trajectory_validators.xml ├── nav2_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── action │ ├── AssistedTeleop.action │ ├── BackUp.action │ ├── ComputeAndTrackRoute.action │ ├── ComputePathThroughPoses.action │ ├── ComputePathToPose.action │ ├── ComputeRoute.action │ ├── DockRobot.action │ ├── DriveOnHeading.action │ ├── DummyBehavior.action │ ├── FollowGPSWaypoints.action │ ├── FollowObject.action │ ├── FollowPath.action │ ├── FollowWaypoints.action │ ├── NavigateThroughPoses.action │ ├── NavigateToPose.action │ ├── SmoothPath.action │ ├── Spin.action │ ├── UndockRobot.action │ ├── Wait.action │ └── __init__.py ├── msg │ ├── BehaviorTreeLog.msg │ ├── BehaviorTreeStatusChange.msg │ ├── CircleObject.msg │ ├── CollisionDetectorState.msg │ ├── CollisionMonitorState.msg │ ├── Costmap.msg │ ├── CostmapFilterInfo.msg │ ├── CostmapMetaData.msg │ ├── CostmapUpdate.msg │ ├── CriticsStats.msg │ ├── EdgeCost.msg │ ├── Particle.msg │ ├── ParticleCloud.msg │ ├── PolygonObject.msg │ ├── Route.msg │ ├── RouteEdge.msg │ ├── RouteNode.msg │ ├── SpeedLimit.msg │ ├── TrackingFeedback.msg │ ├── Trajectory.msg │ ├── TrajectoryPoint.msg │ ├── VoxelGrid.msg │ ├── WaypointStatus.msg │ └── __init__.py ├── package.xml └── srv │ ├── AddShapes.srv │ ├── ClearCostmapAroundPose.srv │ ├── ClearCostmapAroundRobot.srv │ ├── ClearCostmapExceptRegion.srv │ ├── ClearEntireCostmap.srv │ ├── DynamicEdges.srv │ ├── GetCostmap.srv │ ├── GetCosts.srv │ ├── GetShapes.srv │ ├── IsPathValid.srv │ ├── LoadMap.srv │ ├── ManageLifecycleNodes.srv │ ├── ReloadDockDatabase.srv │ ├── RemoveShapes.srv │ ├── SaveMap.srv │ ├── SetInitialPose.srv │ ├── SetRouteGraph.srv │ ├── Toggle.srv │ └── __init__.py ├── nav2_navfn_planner ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── global_planner_plugin.xml ├── include │ └── nav2_navfn_planner │ │ ├── navfn.hpp │ │ └── navfn_planner.hpp ├── package.xml ├── src │ ├── navfn.cpp │ └── navfn_planner.cpp └── test │ ├── CMakeLists.txt │ └── test_dynamic_parameters.cpp ├── nav2_planner ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_planner │ │ └── planner_server.hpp ├── package.xml ├── src │ ├── main.cpp │ └── planner_server.cpp └── test │ ├── CMakeLists.txt │ ├── test_dynamic_parameters.cpp │ └── test_plan_through_poses.cpp ├── nav2_regulated_pure_pursuit_controller ├── CMakeLists.txt ├── README.md ├── doc │ ├── circle-segment-intersection.ipynb │ └── lookahead_algorithm.png ├── include │ └── nav2_regulated_pure_pursuit_controller │ │ ├── collision_checker.hpp │ │ ├── parameter_handler.hpp │ │ ├── path_handler.hpp │ │ ├── regulated_pure_pursuit_controller.hpp │ │ └── regulation_functions.hpp ├── nav2_regulated_pure_pursuit_controller.xml ├── package.xml ├── src │ ├── collision_checker.cpp │ ├── parameter_handler.cpp │ ├── path_handler.cpp │ └── regulated_pure_pursuit_controller.cpp └── test │ ├── CMakeLists.txt │ ├── path_utils │ ├── path_utils.cpp │ ├── path_utils.hpp │ └── test_path_utils.cpp │ └── test_regulated_pp.cpp ├── nav2_ros_common ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_ros_common │ │ ├── action_client.hpp │ │ ├── interface_factories.hpp │ │ ├── lifecycle_node.hpp │ │ ├── node_thread.hpp │ │ ├── node_utils.hpp │ │ ├── publisher.hpp │ │ ├── qos_profiles.hpp │ │ ├── service_client.hpp │ │ ├── service_server.hpp │ │ ├── simple_action_server.hpp │ │ ├── subscription.hpp │ │ └── validate_messages.hpp ├── package.xml └── test │ ├── CMakeLists.txt │ ├── test_actions.cpp │ ├── test_lifecycle_node.cpp │ ├── test_node_utils.cpp │ ├── test_service_client.cpp │ ├── test_service_server.cpp │ └── test_validation_messages.cpp ├── nav2_rotation_shim_controller ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_rotation_shim_controller │ │ ├── nav2_rotation_shim_controller.hpp │ │ └── parameter_handler.hpp ├── nav2_rotation_shim_controller.xml ├── package.xml ├── src │ ├── nav2_rotation_shim_controller.cpp │ └── parameter_handler.cpp └── test │ ├── CMakeLists.txt │ └── test_shim_controller.cpp ├── nav2_route ├── CMakeLists.txt ├── README.md ├── graphs │ ├── aws_graph.geojson │ ├── sample_graph.geojson │ ├── scripts │ │ ├── README.md │ │ ├── export_shapefiles.py │ │ ├── generate_start_and_end_id.sql │ │ ├── increment_edge_id.json │ │ └── increment_node_id.json │ ├── turtlebot3_graph.geojson │ └── turtlebot4_graph.geojson ├── include │ └── nav2_route │ │ ├── corner_smoothing.hpp │ │ ├── edge_scorer.hpp │ │ ├── goal_intent_extractor.hpp │ │ ├── goal_intent_search.hpp │ │ ├── graph_loader.hpp │ │ ├── graph_saver.hpp │ │ ├── interfaces │ │ ├── edge_cost_function.hpp │ │ ├── graph_file_loader.hpp │ │ ├── graph_file_saver.hpp │ │ └── route_operation.hpp │ │ ├── node_spatial_tree.hpp │ │ ├── operations_manager.hpp │ │ ├── path_converter.hpp │ │ ├── plugins │ │ ├── edge_cost_functions │ │ │ ├── costmap_scorer.hpp │ │ │ ├── distance_scorer.hpp │ │ │ ├── dynamic_edges_scorer.hpp │ │ │ ├── goal_orientation_scorer.hpp │ │ │ ├── penalty_scorer.hpp │ │ │ ├── semantic_scorer.hpp │ │ │ ├── start_pose_orientation_scorer.hpp │ │ │ └── time_scorer.hpp │ │ ├── graph_file_loaders │ │ │ └── geojson_graph_file_loader.hpp │ │ ├── graph_file_savers │ │ │ └── geojson_graph_file_saver.hpp │ │ ├── route_operation_client.hpp │ │ └── route_operations │ │ │ ├── adjust_speed_limit.hpp │ │ │ ├── collision_monitor.hpp │ │ │ ├── rerouting_service.hpp │ │ │ ├── time_marker.hpp │ │ │ └── trigger_event.hpp │ │ ├── route_planner.hpp │ │ ├── route_server.hpp │ │ ├── route_tracker.hpp │ │ ├── types.hpp │ │ └── utils.hpp ├── media │ └── architecture.png ├── package.xml ├── plugins.xml ├── src │ ├── edge_scorer.cpp │ ├── goal_intent_extractor.cpp │ ├── graph_loader.cpp │ ├── graph_saver.cpp │ ├── main.cpp │ ├── node_spatial_tree.cpp │ ├── operations_manager.cpp │ ├── path_converter.cpp │ ├── plugins │ │ ├── edge_cost_functions │ │ │ ├── costmap_scorer.cpp │ │ │ ├── distance_scorer.cpp │ │ │ ├── dynamic_edges_scorer.cpp │ │ │ ├── goal_orientation_scorer.cpp │ │ │ ├── penalty_scorer.cpp │ │ │ ├── semantic_scorer.cpp │ │ │ ├── start_pose_orientation_scorer.cpp │ │ │ └── time_scorer.cpp │ │ ├── graph_file_loaders │ │ │ └── geojson_graph_file_loader.cpp │ │ ├── graph_file_savers │ │ │ └── geojson_graph_file_saver.cpp │ │ └── route_operations │ │ │ ├── adjust_speed_limit.cpp │ │ │ ├── collision_monitor.cpp │ │ │ ├── rerouting_service.cpp │ │ │ ├── time_marker.cpp │ │ │ └── trigger_event.cpp │ ├── route_planner.cpp │ ├── route_server.cpp │ └── route_tracker.cpp └── test │ ├── CMakeLists.txt │ ├── performance_benchmarking.cpp │ ├── test_collision_operation.cpp │ ├── test_corner_smoothing.cpp │ ├── test_edge_scorers.cpp │ ├── test_geojson_graph_file_loader.cpp │ ├── test_geojson_graph_file_saver.cpp │ ├── test_goal_intent_extractor.cpp │ ├── test_goal_intent_search.cpp │ ├── test_graph_loader.cpp │ ├── test_graph_saver.cpp │ ├── test_graphs │ ├── error_codes.geojson │ ├── invalid.json │ └── no_frame.json │ ├── test_operations.cpp │ ├── test_path_converter.cpp │ ├── test_route_planner.cpp │ ├── test_route_server.cpp │ ├── test_route_tracker.cpp │ ├── test_spatial_tree.cpp │ └── test_utils_and_types.cpp ├── nav2_rviz_plugins ├── CMakeLists.txt ├── icons │ └── classes │ │ ├── Docking.svg │ │ └── nav2_logo_small.png ├── include │ └── nav2_rviz_plugins │ │ ├── costmap_cost_tool.hpp │ │ ├── docking_panel.hpp │ │ ├── goal_common.hpp │ │ ├── goal_pose_updater.hpp │ │ ├── goal_tool.hpp │ │ ├── nav2_panel.hpp │ │ ├── particle_cloud_display │ │ ├── flat_weighted_arrows_array.hpp │ │ └── particle_cloud_display.hpp │ │ ├── ros_action_qevent.hpp │ │ ├── route_tool.hpp │ │ ├── selector.hpp │ │ └── utils.hpp ├── launch │ └── route_tool.launch.py ├── package.xml ├── plugins_description.xml ├── resource │ └── route_tool.ui ├── rviz │ └── route_tool.rviz └── src │ ├── costmap_cost_tool.cpp │ ├── docking_panel.cpp │ ├── goal_tool.cpp │ ├── nav2_panel.cpp │ ├── particle_cloud_display │ ├── flat_weighted_arrows_array.cpp │ └── particle_cloud_display.cpp │ ├── route_tool.cpp │ ├── selector.cpp │ └── utils.cpp ├── nav2_simple_commander ├── README.md ├── launch │ ├── assisted_teleop_example_launch.py │ ├── follow_path_example_launch.py │ ├── inspection_demo_launch.py │ ├── nav_through_poses_example_launch.py │ ├── nav_to_pose_example_launch.py │ ├── picking_demo_launch.py │ ├── recoveries_example_launch.py │ ├── route_example_launch.py │ ├── security_demo_launch.py │ └── waypoint_follower_example_launch.py ├── media │ └── readme.gif ├── nav2_simple_commander │ ├── __init__.py │ ├── costmap_2d.py │ ├── demo_inspection.py │ ├── demo_picking.py │ ├── demo_recoveries.py │ ├── demo_security.py │ ├── example_assisted_teleop.py │ ├── example_follow_path.py │ ├── example_nav_through_poses.py │ ├── example_nav_to_pose.py │ ├── example_route.py │ ├── example_waypoint_follower.py │ ├── footprint_collision_checker.py │ ├── line_iterator.py │ ├── robot_navigator.py │ └── utils.py ├── package.xml ├── pytest.ini ├── resource │ └── nav2_simple_commander ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ ├── test_footprint_collision_checker.py │ ├── test_line_iterator.py │ └── test_pep257.py ├── nav2_smac_planner ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_smac_planner │ │ ├── a_star.hpp │ │ ├── analytic_expansion.hpp │ │ ├── collision_checker.hpp │ │ ├── constants.hpp │ │ ├── costmap_downsampler.hpp │ │ ├── goal_manager.hpp │ │ ├── node_2d.hpp │ │ ├── node_basic.hpp │ │ ├── node_hybrid.hpp │ │ ├── node_lattice.hpp │ │ ├── smac_planner_2d.hpp │ │ ├── smac_planner_hybrid.hpp │ │ ├── smac_planner_lattice.hpp │ │ ├── smoother.hpp │ │ ├── thirdparty │ │ └── robin_hood.h │ │ ├── types.hpp │ │ └── utils.hpp ├── lattice_primitives │ ├── README.md │ ├── __init__.py │ ├── config.json │ ├── constants.py │ ├── docs │ │ ├── all_trajectories.png │ │ └── angle_discretization.png │ ├── generate_motion_primitives.py │ ├── helper.py │ ├── lattice_generator.py │ ├── py.typed │ ├── requirements.txt │ ├── sample_primitives │ │ ├── 5cm_resolution │ │ │ ├── 0.5m_turning_radius │ │ │ │ ├── ackermann │ │ │ │ │ └── output.json │ │ │ │ ├── all_trajectories.png │ │ │ │ ├── diff │ │ │ │ │ └── output.json │ │ │ │ └── omni │ │ │ │ │ └── output.json │ │ │ └── 1m_turning_radius │ │ │ │ ├── ackermann │ │ │ │ └── output.json │ │ │ │ ├── all_trajectories.png │ │ │ │ ├── diff │ │ │ │ └── output.json │ │ │ │ └── omni │ │ │ │ └── output.json │ │ └── test │ │ │ └── output.json │ ├── tests │ │ ├── test_lattice_generator.py │ │ ├── test_trajectory_generator.py │ │ └── trajectory_visualizer.py │ ├── trajectory.py │ └── trajectory_generator.py ├── media │ ├── A.png │ └── B.png ├── package.xml ├── smac_plugin_2d.xml ├── smac_plugin_hybrid.xml ├── smac_plugin_lattice.xml ├── src │ ├── a_star.cpp │ ├── analytic_expansion.cpp │ ├── collision_checker.cpp │ ├── costmap_downsampler.cpp │ ├── node_2d.cpp │ ├── node_basic.cpp │ ├── node_hybrid.cpp │ ├── node_lattice.cpp │ ├── smac_planner_2d.cpp │ ├── smac_planner_hybrid.cpp │ ├── smac_planner_lattice.cpp │ └── smoother.cpp └── test │ ├── 3planners.png │ ├── CMakeLists.txt │ ├── deprecated │ ├── options.hpp │ ├── smoother.hpp │ ├── smoother_cost_function.hpp │ ├── upsampler.hpp │ ├── upsampler_cost_function.hpp │ └── upsampler_cost_function_nlls.hpp │ ├── path.png │ ├── test_a_star.cpp │ ├── test_collision_checker.cpp │ ├── test_costmap_downsampler.cpp │ ├── test_goal_manager.cpp │ ├── test_node2d.cpp │ ├── test_nodebasic.cpp │ ├── test_nodehybrid.cpp │ ├── test_nodelattice.cpp │ ├── test_smac_2d.cpp │ ├── test_smac_hybrid.cpp │ ├── test_smac_lattice.cpp │ ├── test_smoother.cpp │ └── test_utils.cpp ├── nav2_smoother ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_smoother │ │ ├── nav2_smoother.hpp │ │ ├── savitzky_golay_smoother.hpp │ │ └── simple_smoother.hpp ├── package.xml ├── plugins.xml ├── src │ ├── main.cpp │ ├── nav2_smoother.cpp │ ├── savitzky_golay_smoother.cpp │ └── simple_smoother.cpp └── test │ ├── CMakeLists.txt │ ├── test_savitzky_golay_smoother.cpp │ ├── test_simple_smoother.cpp │ └── test_smoother_server.cpp ├── nav2_system_tests ├── CMakeLists.txt ├── README.md ├── maps │ ├── empty_room.pgm │ ├── empty_room.png │ ├── empty_room.yaml │ ├── keepout_mask.pgm │ ├── keepout_mask.yaml │ ├── map.pgm │ ├── map.xcf │ ├── map_circular.pgm │ ├── map_circular.yaml │ ├── speed_mask.pgm │ └── speed_mask.yaml ├── models │ └── cardboard_box.sdf ├── package.xml ├── scripts │ └── ctest_loop.bash └── src │ ├── behavior_tree │ ├── CMakeLists.txt │ ├── dummy_action_server.hpp │ ├── dummy_service.hpp │ ├── server_handler.cpp │ ├── server_handler.hpp │ └── test_behavior_tree_node.cpp │ ├── behaviors │ ├── README.md │ ├── assisted_teleop │ │ ├── CMakeLists.txt │ │ ├── assisted_teleop_behavior_tester.cpp │ │ ├── assisted_teleop_behavior_tester.hpp │ │ ├── test_assisted_teleop_behavior_launch.py │ │ └── test_assisted_teleop_behavior_node.cpp │ ├── backup │ │ ├── CMakeLists.txt │ │ ├── backup_tester.py │ │ └── test_backup_behavior.launch.py │ ├── drive_on_heading │ │ ├── CMakeLists.txt │ │ ├── drive_tester.py │ │ └── test_drive_on_heading_behavior.launch.py │ ├── spin │ │ ├── CMakeLists.txt │ │ ├── spin_tester.py │ │ └── test_spin_behavior.launch.py │ └── wait │ │ ├── CMakeLists.txt │ │ ├── test_wait_behavior_launch.py │ │ ├── test_wait_behavior_node.cpp │ │ ├── wait_behavior_tester.cpp │ │ └── wait_behavior_tester.hpp │ ├── costmap_filters │ ├── CMakeLists.txt │ ├── keepout_params.yaml │ ├── keepout_plan.png │ ├── speed_global_params.yaml │ ├── speed_local_params.yaml │ ├── test_keepout_launch.py │ ├── test_speed_launch.py │ └── tester_node.py │ ├── dummy_controller │ ├── CMakeLists.txt │ ├── dummy_controller.cpp │ ├── dummy_controller.hpp │ └── main.cpp │ ├── dummy_planner │ ├── CMakeLists.txt │ ├── dummy_planner.cpp │ ├── dummy_planner.hpp │ └── main.cpp │ ├── error_codes │ ├── CMakeLists.txt │ ├── controller │ │ ├── controller_error_plugins.cpp │ │ └── controller_error_plugins.hpp │ ├── controller_plugins.xml │ ├── error_code_param.yaml │ ├── planner │ │ ├── planner_error_plugin.cpp │ │ └── planner_error_plugin.hpp │ ├── planner_plugins.xml │ ├── smoother │ │ ├── smoother_error_plugin.cpp │ │ └── smoother_error_plugin.hpp │ ├── smoother_plugins.xml │ ├── test_error_codes.py │ └── test_error_codes_launch.py │ ├── gps_navigation │ ├── CMakeLists.txt │ ├── dual_ekf_navsat.launch.py │ ├── dual_ekf_navsat_params.yaml │ ├── nav2_no_map_params.yaml │ ├── test_case_py.launch.py │ └── tester.py │ ├── localization │ ├── CMakeLists.txt │ ├── README.md │ ├── test_localization_launch.py │ └── test_localization_node.cpp │ ├── planning │ ├── CMakeLists.txt │ ├── README.md │ ├── example_result.png │ ├── planner_tester.cpp │ ├── planner_tester.hpp │ ├── test_planner_costmaps_launch.py │ ├── test_planner_costmaps_node.cpp │ ├── test_planner_is_path_valid.cpp │ ├── test_planner_plugins.cpp │ ├── test_planner_random_launch.py │ └── test_planner_random_node.cpp │ ├── route │ ├── CMakeLists.txt │ ├── README.md │ ├── test_route_launch.py │ └── tester_node.py │ ├── system │ ├── CMakeLists.txt │ ├── README.md │ ├── nav2_system_params.yaml │ ├── nav_through_poses_tester_error_msg_node.py │ ├── nav_through_poses_tester_node.py │ ├── nav_to_pose_tester_node.py │ ├── test_multi_robot_launch.py │ ├── test_system_launch.py │ ├── test_system_with_obstacle_launch.py │ └── test_wrong_init_pose_launch.py │ ├── system_failure │ ├── CMakeLists.txt │ ├── README.md │ ├── test_system_failure_launch.py │ └── tester_node.py │ ├── updown │ ├── CMakeLists.txt │ ├── README.md │ ├── start_nav2 │ ├── test_updown.cpp │ ├── test_updown_launch.py │ ├── test_updown_reliability │ └── updownresults.py │ └── waypoint_follower │ ├── CMakeLists.txt │ ├── README.md │ ├── test_case_launch.py │ └── tester.py ├── nav2_theta_star_planner ├── CMakeLists.txt ├── README.md ├── img │ └── 00-37.png ├── include │ └── nav2_theta_star_planner │ │ ├── theta_star.hpp │ │ └── theta_star_planner.hpp ├── package.xml ├── src │ ├── theta_star.cpp │ └── theta_star_planner.cpp ├── test │ └── test_theta_star.cpp └── theta_star_planner.xml ├── nav2_util ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_util │ │ ├── array_parser.hpp │ │ ├── controller_utils.hpp │ │ ├── costmap.hpp │ │ ├── execution_timer.hpp │ │ ├── geometry_utils.hpp │ │ ├── lifecycle_service_client.hpp │ │ ├── line_iterator.hpp │ │ ├── occ_grid_utils.hpp │ │ ├── occ_grid_values.hpp │ │ ├── odometry_utils.hpp │ │ ├── parameter_handler.hpp │ │ ├── path_utils.hpp │ │ ├── raytrace_line_2d.hpp │ │ ├── robot_utils.hpp │ │ ├── smoother_utils.hpp │ │ ├── string_utils.hpp │ │ ├── twist_publisher.hpp │ │ └── twist_subscriber.hpp ├── package.xml ├── src │ ├── CMakeLists.txt │ ├── array_parser.cpp │ ├── base_footprint_publisher.cpp │ ├── base_footprint_publisher.hpp │ ├── controller_utils.cpp │ ├── costmap.cpp │ ├── lifecycle_bringup_commandline.cpp │ ├── lifecycle_service_client.cpp │ ├── odometry_utils.cpp │ ├── path_utils.cpp │ ├── robot_utils.cpp │ └── string_utils.cpp └── test │ ├── CMakeLists.txt │ ├── regression │ ├── CMakeLists.txt │ └── map_bresenham_2d.cpp │ ├── test_array_parser.cpp │ ├── test_base_footprint_publisher.cpp │ ├── test_controller_utils.cpp │ ├── test_execution_timer.cpp │ ├── test_geometry_utils.cpp │ ├── test_lifecycle_cli_node.cpp │ ├── test_odometry_utils.cpp │ ├── test_parameter_handler.cpp │ ├── test_path_utils.cpp │ ├── test_robot_utils.cpp │ ├── test_smoother_utils.cpp │ ├── test_string_utils.cpp │ ├── test_twist_publisher.cpp │ └── test_twist_subscriber.cpp ├── nav2_velocity_smoother ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_velocity_smoother │ │ └── velocity_smoother.hpp ├── package.xml ├── src │ ├── main.cpp │ └── velocity_smoother.cpp └── test │ ├── CMakeLists.txt │ └── test_velocity_smoother.cpp ├── nav2_voxel_grid ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_voxel_grid │ │ └── voxel_grid.hpp ├── package.xml ├── src │ └── voxel_grid.cpp └── test │ ├── CMakeLists.txt │ ├── voxel_grid_bresenham_3d.cpp │ └── voxel_grid_tests.cpp ├── nav2_waypoint_follower ├── CMakeLists.txt ├── README.md ├── include │ └── nav2_waypoint_follower │ │ ├── plugins │ │ ├── input_at_waypoint.hpp │ │ ├── photo_at_waypoint.hpp │ │ └── wait_at_waypoint.hpp │ │ └── waypoint_follower.hpp ├── package.xml ├── plugins.xml ├── plugins │ ├── input_at_waypoint.cpp │ ├── photo_at_waypoint.cpp │ └── wait_at_waypoint.cpp ├── src │ ├── main.cpp │ └── waypoint_follower.cpp └── test │ ├── CMakeLists.txt │ ├── test_dynamic_parameters.cpp │ └── test_task_executors.cpp ├── navigation2 ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml └── tools ├── .codespell_ignore_words ├── bt2img.py ├── code_coverage_report.bash ├── ctest_retry.bash ├── distro.Dockerfile ├── planner_benchmarking ├── 100by100_10.pgm ├── 100by100_10.yaml ├── 100by100_15.pgm ├── 100by100_15.yaml ├── 100by100_20.pgm ├── 100by100_20.yaml ├── README.md ├── metrics.py ├── planning_benchmark_bringup.py └── process_data.py ├── pyproject.toml ├── run_sanitizers ├── run_test_suite.bash ├── skip_keys.txt ├── smoother_benchmarking ├── README.md ├── maps │ ├── smoothers_world.pgm │ └── smoothers_world.yaml ├── metrics.py ├── process_data.py └── smoother_benchmark_bringup.py ├── source.Dockerfile ├── underlay.repos ├── update_bt_diagrams.bash └── update_readme_table.py 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