Build & Install

EasyNav runs on Linux with ROS 2 humble, jazzy, kilted, lyrical or rolling. The recommended way to install it is with APT, using the packages of the ROS 2 buildfarm (all distros but rolling, which has no APT packages for now: use Pixi or build from source).

This documentation describes EasyNav 0.5.0, the version that APT installs on every distro.

Install with APT (recommended)

You need ROS 2 installed from its official APT repositories. Install EasyNav and the plugins your configuration uses; for example, for a costmap configuration with the Regulated Pure Pursuit controller:

sudo apt update
sudo apt install ros-<distro>-easynav \
  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 yours (humble, jazzy, kilted or lyrical) and source ROS 2 in every new terminal (source /opt/ros/<distro>/setup.bash). See Install from binaries (APT, recommended) for the plugins and the PlayGrounds, and continue with Getting Started.

On rolling, without a system ROS 2 or on another Linux, use Pixi. To develop EasyNav or a plugin, build it from source.

Install from source

You need ROS 2 installed.

The commands clone the EasyNav 0.5.0 release (its git tags), the same on every distro.

1. Create a workspace and clone EasyNav, its plugins, NavMap and yaets (the tracing library EasyNav uses):

   mkdir -p ~/easynav_ws/src
   cd ~/easynav_ws/src
   git clone -b 0.5.0 https://github.com/EasyNavigation/EasyNavigation.git
   git clone -b 0.5.0 https://github.com/EasyNavigation/easynav_plugins.git
   git clone -b 0.6.0 https://github.com/EasyNavigation/NavMap.git
   git clone -b 1.2.0 https://github.com/fmrico/yaets.git
   

2. Install the dependencies:

   cd ~/easynav_ws
   rosdep install --from-paths src --ignore-src -y -r
   

   (If you never used rosdep, run sudo rosdep init and rosdep update first.)

3. Build:

   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
   

4. Source the workspace, in every new terminal:

   source /opt/ros/<distro>/setup.bash
   source ~/easynav_ws/install/setup.bash
   

That’s it: EasyNav and all its official plugins are installed. Continue with Getting Started.

Other options

• Install from Binaries — APT and Pixi packages: plugins, PlayGrounds and the versions available for each distro.

• Real-time System Setup — let EasyNav run its control cycle with real-time priority (recommended on a real robot).

• Troubleshooting — common problems, running the tests and uninstalling.