EasyNav Plugins

EasyNav Plugins (easynav_plugins) provides the official collection of plugins for the Easy Navigation (EasyNav) framework. These plugins extend the navigation core with planners, controllers, map managers, localizers and recovery systems.

Each plugin resides in its own ROS 2 package and is registered through pluginlib, enabling dynamic loading at runtime. To list the plugins installed in your system:

ros2 easynav plugins

Supported ROS 2 versions 

ROS 2 rolling
ROS 2 lyrical
ROS 2 kilted
ROS 2 jazzy

See Build & Install for the install methods per distro, and Package availability for the plugins that are not in the binary packages yet.

Repository overview 

This repository groups all the official plugins for EasyNav into five main categories:

Planners – generate paths from the robot’s current pose to the goal.
Controllers – convert paths into motion commands.
Maps Managers – manage and update spatial representations of the environment.
Localizers – estimate the robot’s pose using map and sensor data.
Recoveries – detect navigation problems and handle them.

Each plugin type implements a well-defined C++ interface and can be configured in the EasyNav parameter file. The plugins are grouped in stacks by the map representation they work on: Simple, Costmap, and NavMap + Bonxai. The PlayGrounds have ready-to-run configurations for each of them.

🧭 Planners 

Package	Description	Documentation
`easynav_costmap_planner`	A* planner over `Costmap2D`.	README
`easynav_navmap_planner`	A* planner over a NavMap mesh.	README
`easynav_simple_planner`	Simple A* planner for `SimpleMap`.	README

⚙️ Controllers 

Package	Description	Documentation
`easynav_regulated_pp_controller`	Regulated Pure Pursuit, a port of Nav2’s, with optional Dynamic Window (DWPP) extension. The recommended controller for differential robots.	README
`easynav_mppi_controller`	Model Predictive Path Integral (MPPI) controller.	README
`easynav_mpc_controller`	Model Predictive Controller (MPC) for trajectory tracking.	README
`easynav_serest_controller`	SeReST (Smooth Error-Responsive Speed and Turning) path tracking controller.	README
`easynav_vff_controller`	VFF reactive obstacle avoidance controller.	README
`easynav_simple_controller`	Simple PID path follower, for testing.	README

🗺️ Maps Managers 

Package	Description	Documentation
`easynav_costmap_maps_manager`	`Costmap2D` maps (YAML + image, as Nav2), with obstacle and inflation filters.	README
`easynav_navmap_maps_manager`	NavMap triangulated 3D surfaces, with obstacle and inflation filters.	README
`easynav_bonxai_maps_manager`	Bonxai probabilistic 3D voxel maps.	README
`easynav_routes_maps_manager`	Navigation routes, editable in RViz2, and a filter that keeps costmap paths on them.	README
`easynav_simple_maps_manager`	Minimal example map manager for `SimpleMap` (binary occupancy).	README
`easynav_octomap_maps_manager`	Deprecated: no longer maintained by EasyNavigation. OctoMap 3D occupancy trees.	README

📍 Localizers 

Package	Description	Documentation
`easynav_costmap_localizer`	AMCL over `Costmap2D`. Also provides the `AmclConvergenceEvaluator` and `AmclRelocalizeMitigation` recovery plugins.	README
`easynav_mhamcl_localizer`	Multi-Hypothesis AMCL over `Costmap2D`: global localization and kidnapping recovery.	README
`easynav_navmap_localizer`	AMCL for NavMap stacks, scoring 3D point clouds against a Bonxai map.	README
`easynav_fusion_localizer`	Multi-sensor fusion (UKF, based on `robot_localization`): GPS, odometry, IMU.	README
`easynav_simple_localizer`	AMCL over `SimpleMap`.	README

🛟 Recoveries 

Recovery systems, loaded by recovery_node (see Recovery System). easynav_diagnostic_recovery is itself made of plugins (safety reflexes, evaluators and mitigations), documented in its README.

Package	Description	Documentation
`easynav_diagnostic_recovery`	Diagnosis-driven recovery system: safety reflexes, evaluators and mitigations.	README
`easynav_simple_recovery`	Simple recovery system, written as a tutorial.	README

Other plugins 

Outside easynav_plugins:

easynav_alt_imu_sensor: an example perception plugin, see Writing a Custom Perception Plugin.
easynav_gridmap_stack and easynav_lidarslam_ros2: deprecated, no longer maintained by EasyNavigation.

License 

All packages in this repository are released under Apache-2.0, unless stated otherwise in their respective package directories.