Install from Binaries

EasyNav is distributed as binary packages with APT (Debian packages from the ROS 2 buildfarm, the recommended way, for every distro but rolling) and Pixi (self-contained conda packages, for every distro).

Release status

EasyNav 0.5.0 is released for every distro, with the same content in all of them. Each distro has its own branch in the repositories:

Distro	APT	Pixi	Source branch
rolling	—	0.5.0	rolling
lyrical	0.5.0	0.5.0	lyrical
kilted	0.5.0	0.5.0	kilted
jazzy	0.5.0	0.5.0	jazzy
humble	0.5.0	0.5.0	humble

Install from binaries (APT, recommended)

EasyNav is released as Debian packages through the ROS 2 buildfarm for humble, jazzy, kilted and lyrical. Rolling has no APT packages for now: use Pixi or Install from source. It needs ROS 2 installed from its official APT repositories.

sudo apt update
sudo apt install ros-<distro>-easynav

Installing plugins (APT)

ros-<distro>-easynav only installs the core EasyNav framework (easynav_system, easynav_sensors, …). Controllers, localizers, planners and maps managers are shipped as separate packages — see the full catalogue at EasyNav Plugins — and you need to install the ones your configuration actually uses. For example, for a costmap configuration with the Regulated Pure Pursuit controller:

sudo apt install \
  ros-<distro>-easynav-costmap-maps-manager \
  ros-<distro>-easynav-costmap-localizer \
  ros-<distro>-easynav-costmap-planner \
  ros-<distro>-easynav-regulated-pp-controller

The PlayGrounds are packaged too (except in humble), e.g. ros-<distro>-easynav-playground-kobuki.

Install via Pixi

Use Pixi when you cannot install ROS 2 from APT (another Linux, no root, or several distros side by side). A Pixi environment is fully self-contained: it ships its own ROS 2 distribution, so you do not need a system ROS 2 install.

The ROS 2 packages come from RoboStack (robostack-<distro> channels). EasyNav’s conda packages, and the few dependencies RoboStack lacks, are in the Intelligent Robotics Lab channels on prefix.dev:

Note

EasyNav 0.5.0 will soon be available in the RoboStack channels too. Meanwhile, use the IRL channels below, as the pixi.toml files of this page do.

Distro	IRL channel
rolling	https://prefix.dev/fmrico/irl-rolling
lyrical	https://prefix.dev/fmrico/irl-lyrical
kilted	https://prefix.dev/irl-kilted
jazzy	https://prefix.dev/irl-jazzy
humble	https://prefix.dev/fmrico/irl-humble

Note

Keep the IRL channel before RoboStack’s in channels: Pixi takes each package from the first channel that has it, and some RoboStack channels have older EasyNav versions.

For each ROS 2 distro, download the corresponding pixi.toml below and save it as ~/easynav_ws/pixi.toml — the same workspace directory used throughout this guide and in Getting Started. Then run:

cd ~/easynav_ws
pixi install
pixi shell

pixi shell opens a shell with ROS 2 and EasyNav ready to use. You can also prefix any command with pixi run instead of entering the shell.

Rolling

pixi.toml

[workspace]
name = "easynav-rolling"
# EasyNav's channel first: Pixi takes each package from the first channel that has it
channels = [
  "https://prefix.dev/fmrico/irl-rolling",
  "https://prefix.dev/robostack-rolling",
  "https://prefix.dev/conda-forge",
]
platforms = ["linux-64"]

[dependencies]
ros-rolling-easynav = "*"

# RoboStack's gz_ros2_control does not set it in this distro: Gazebo would not find the plugin
[activation.env]
GZ_SIM_SYSTEM_PLUGIN_PATH = "$CONDA_PREFIX/lib"

Lyrical

pixi.toml

[workspace]
name = "easynav-lyrical"
# EasyNav's channel first: Pixi takes each package from the first channel that has it
channels = [
  "https://prefix.dev/fmrico/irl-lyrical",
  "https://prefix.dev/robostack-lyrical",
  "https://prefix.dev/conda-forge",
]
platforms = ["linux-64"]

[dependencies]
ros-lyrical-easynav = "*"

Kilted

pixi.toml

[workspace]
name = "easynav-kilted"
# EasyNav's channel first: Pixi takes each package from the first channel that has it
channels = [
  "https://prefix.dev/irl-kilted",
  "https://prefix.dev/robostack-kilted",
  "https://prefix.dev/conda-forge",
]
platforms = ["linux-64"]

[dependencies]
ros-kilted-easynav = "*"

# RoboStack's gz_ros2_control does not set it in this distro: Gazebo would not find the plugin
[activation.env]
GZ_SIM_SYSTEM_PLUGIN_PATH = "$CONDA_PREFIX/lib"

Jazzy

pixi.toml

[workspace]
name = "easynav-jazzy"
# EasyNav's channel first: Pixi takes each package from the first channel that has it
channels = [
  "https://prefix.dev/irl-jazzy",
  "https://prefix.dev/robostack-jazzy",
  "https://prefix.dev/conda-forge",
]
platforms = ["linux-64"]

[dependencies]
ros-jazzy-easynav = "*"

Humble

pixi.toml

[workspace]
name = "easynav-humble"
# EasyNav's channel first: Pixi takes each package from the first channel that has it
channels = [
  "https://prefix.dev/fmrico/irl-humble",
  "https://prefix.dev/robostack-humble",
  "https://prefix.dev/conda-forge",
]
platforms = ["linux-64"]

[dependencies]
ros-humble-easynav = "*"

Installing plugins (Pixi)

Just like with APT, ros-<distro>-easynav in the pixi.toml files above only pulls in the core framework. Controllers, localizers, planners and maps managers live in separate packages — browse the full catalogue at EasyNav Plugins — and must be added on top with pixi add. For example:

pixi add \
  ros-<distro>-easynav-costmap-maps-manager \
  ros-<distro>-easynav-costmap-localizer \
  ros-<distro>-easynav-costmap-planner \
  ros-<distro>-easynav-regulated-pp-controller

Replace <distro> with your target distro (humble, jazzy, kilted, lyrical or rolling).

Package availability

Every package of EasyNav, its plugins, NavMap (including navmap_tools and navmap_rviz_plugin), yaets, easynav_nav2_bridge and the PlayGrounds is available with APT (humble, jazzy, kilted and lyrical) and Pixi (also rolling), except:

• The PlayGrounds are not available for humble: their simulation needs the Gazebo vendor packages (gz_sim_vendor) of jazzy and later.

• easynav_behaviors and the other example packages are only distributed as source (see Getting Started).