EasyNavigation Logo
0.5.0
  • Build & Install
    • Install with APT (recommended)
    • Install from source
    • Other options
      • Install from Binaries
        • Release status
        • Install from binaries (APT, recommended)
        • Install via Pixi
        • Package availability
      • Real-time System Setup
      • Troubleshooting
        • Common problems
        • Uninstall / clean
        • Running the tests
  • Getting Started
    • Overview
    • Setting up
      • Sourcing the workspace
    • First run: the Simple stack
      • Launching the simulator
      • Launching EasyNav
      • Visualizing in RViz2
      • Sending navigation goals
    • Navigating with the Costmap stack
      • All in one launch file
    • Visualizing internal process with the TUI
    • Troubleshooting
    • Next steps
  • PlayGrounds
    • Installation
    • Real robots
      • Kobuki PlayGround
        • Launching EasyNav
        • Multirobot
        • Simulation only
        • Launch files
        • Package layout
      • Summit PlayGround
        • Launching EasyNav
        • Simulation only
        • Launch files
        • Building maps of a world
        • Package layout
      • TIAGo PlayGround
        • Launching EasyNav
        • Simulation only
        • Packages
      • Omni PlayGround
        • Launching EasyNav
        • Simulation only
        • Launch files
  • EasyNav Plugins
    • Supported ROS 2 versions
    • Repository overview
    • 🧭 Planners
    • ⚙️ Controllers
    • 🗺️ Maps Managers
    • 📍 Localizers
    • 🛟 Recoveries
    • Other plugins
    • License
  • HowTos and Practical Guides
    • 📘 Overview
    • Costmap Stack
      • Mapping with the Costmap Stack
        • Overview
        • Setup
        • Step-by-Step Instructions
        • Saving the map
      • Navigating with the Costmap Stack
        • Setup
        • Running it
        • The Parameter File
        • Adapting it to your robot
      • Global Localization and Kidnapping Recovery with MH-AMCL
        • How it works
        • Setup
        • Configuring the Localizer
        • Running the Simulation
        • Testing Global Localization and Kidnapping
        • Tuning
        • Notes
      • Using the Routes Maps Manager with Costmaps
        • 1) Creating routes
        • 2) Using the routes for navigation
      • Deploying EasyNav on a Real iCreate3 Robot
        • Setup
        • Hardware Setup
        • ROS 2 Setup on the Raspberry Pi
        • EasyNav Setup on the Raspberry Pi
        • Mapping
        • Navigation
        • Notes
    • NavMap + Bonxai Stack
      • Navigating with the NavMap + Bonxai Stack
        • Setup
        • The two scenarios
        • The parameter file
        • Building the maps
      • Building Bonxai and NavMap Maps from a Recorded ROSBag
        • Setup
        • Overview
        • 1. Align the Frames (world → map)
        • 2. Play the ROSBag
        • 3. Launch EasyNav with Bonxai and NavMap Maps Managers
        • 4. NavMap Build Parameters
        • 5. Visualize in RViz2
        • 6. Save the Maps
        • 7. Summary
    • Simple Stack
      • Mapping with SLAM Toolbox and EasyNav
        • Overview
        • Setup
        • Step-by-Step Instructions
        • Saving and Reusing the Map
        • Notes
      • Navigating with SimpleStack and EasyNav
        • Overview
        • Setup
        • The Parameter File
        • Running the Simulation
        • Notes
    • Controllers
      • SeReST Controller Fine-Tuning
        • Overview
        • Quick-Start Defaults
        • Core Concepts
        • Parameter-by-Parameter Guidance
        • Troubleshooting by Symptom
        • Recommended Tuning Order
        • FAQ
    • Behaviors
      • Patrolling Behavior
        • Overview
        • Setup
        • Waypoint Configuration
        • Launching Navigation
        • Running the Patrolling Behavior
        • Code Explanation (C++ Version)
        • Code Explanation (Python Version)
        • Notes
    • General
      • Multi-Robot Navigation with EasyNav
        • Overview
        • Setup
        • 1. Topic Naming and TF Management
        • 2. Launching in Simulation
        • 3. Example Parameters
        • Tips & Gotchas
      • ros2 easynav — EasyNav CLI Extensions
        • NAME
        • SYNOPSIS
        • DESCRIPTION
        • COMMANDS
        • OPTIONS (Common)
        • EXIT STATUS
        • EXAMPLES
        • SEE ALSO
      • Docker Setup with Zenoh Bridge (Cross-Distro)
        • Overview
        • Step 1: Building the Docker Image (Rolling)
        • Step 2: Preparing the Robot (Host)
        • Step 3: Running the Container
        • Step 4: Visualization from a Remote PC
      • Writing a Custom Perception Plugin
        • When do you need a custom perception plugin?
        • Setup
        • The PerceptionHandler interface
        • Walking through AltIMUPerceptionHandler
        • Registering the plugin
        • Using the plugin
        • Writing a plugin for a genuinely new message type
        • Notes
    • Deprecated
      • GridMap Mapping with LidarSLAM and EasyNav
        • Setup
        • Overview
        • 1. Start the Simulator
        • 2. Launch LidarSLAM
        • 3. Build the Map with Teleoperation
        • 4. Run the GridMap Builder (PointCloud → GridMap)
        • 5. Run the Gridmap Maps Manager
        • 6. Save the GridMap to Disk
      • Outdoor Navigation with GridMaps (Summit)
        • Overview
        • Setup
        • 1. Launch the Simulator
        • 2. Launch EasyNav with GridMap and LidarSLAM
        • 3. Commanding Navigation Goals
        • Notes
  • Developers Guide
    • Core Design and Architecture
      • Coordinate Frames (TF)
      • Robot Geometry
      • Velocity Output: Robot Limits, Mux and Smoother
      • Reconfiguring EasyNav at Runtime
      • NavState: The Shared Blackboard
      • Real-Time Execution Model
        • Frequencies: system cycles and components
    • How to use the NavState BlackBoard
      • Overview
      • Basic API
      • Examples from Plugins
      • Advanced Features
      • Best Practices
      • Conclusion
    • Sensor Input and Perception Handling
      • Sensor Configuration
      • Grouping sensors: group: is optional and changes visibility
      • Processing Point Perceptions
      • Operation Summary
      • Lazy operations, frames and collapse
        • filter(min_bounds, max_bounds, lazy_post_fuse)
        • collapse(collapse_dims, lazy)
      • Example: Updating a Map
      • Fused Visualization
      • Other Perception Types
      • Extending to Other Modalities
    • Sending Navigation Commands to EasyNav
      • Primary Method: /easynav_control Topic
        • Protocol Description
        • Using GoalManagerClient
      • Secondary Method: /goal_pose Topic
      • Conclusion
    • Recovery System
      • The Recovery Node
      • The Base Class: RecoveryManagerBase
      • Moving the Robot
      • System Actions
        • Controlled shutdown
        • Reconfiguration as a mitigation
      • Available Recovery Systems
        • DummyRecoveryManager
        • SimpleRecoveryManager
        • DiagnosticRecoveryManager
      • Writing a Recovery System
    • Safety
      • Summary
      • Overview
      • Stale and invalid commands
      • Configuration checks
      • Safety parameters and safety mode
      • Real-time cycle monitoring and heartbeat
      • Safety channel status
      • Data age
      • Memory locking
      • Configuration fingerprint
      • Fault injection
    • Overview
    • Further Reading
  • Migration Guide
    • What stays the same
    • Nav2 and EasyNav, piece by piece
    • Step 1: Install EasyNav
    • Step 2: Your map
    • Step 3: The parameter file
    • Step 4: Run it
    • Step 5: Send goals from your applications
      • Option A: the Nav2 bridge
      • Option B: GoalManagerClient
      • Option C: just a pose
    • Differences to keep in mind
    • Troubleshooting
    • Next steps
  • About and Contact
    • About
    • Contact
EasyNavigation
Edit
  • Search

© Copyright 2026, Various.

EasyNav v:
Versions