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, and localizers compatible with ROS 2.

Each plugin resides in its own ROS 2 package and is registered through pluginlib, enabling dynamic loading at runtime.

Supported ROS 2 versions

• ROS 2 kilted (Ubuntu 24.04, recommended)

• ROS 2 rolling

Repository overview

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

1. Planners – generate paths from the robot’s current pose to the goal.

2. Controllers – convert paths into motion commands.

3. Maps Managers – manage and update spatial representations of the environment.

4. Localizers – estimate the robot’s pose using map and sensor data.

Each plugin type implements a well-defined C++ interface and can be configured dynamically in the EasyNav parameter files.

—

🧭 Planners

Path-planning plugins implementing A*, costmap-based, and NavMap-based methods.

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

—

⚙️ Controllers

Motion controllers for trajectory tracking and reactive behaviors.

Package	Description | Documentation
easynav_vff_controller	Vector Field Force (VFF) reactive controller.	easynav_vff_controller README
easynav_mppi_controller	Model Predictive Path Integral (MPPI) controller.	easynav_mppi_controller README
easynav_simple_controller	Simple proportional controller for testing.	easynav_simple_controller README
easynav_serest_controller	SeReST (Safe Reactive Steering) controller.	easynav_serest_controller README

—

🗺️ Maps Managers

Map-management plugins that provide, update, and store different environment representations.

Package	Description	Documentation
easynav_navmap_maps_manager	Manages NavMap mesh layers.	easynav_navmap_maps_manager README
easynav_bonxai_maps_manager	Manages Bonxai probabilistic voxel maps.	easynav_bonxai_maps_manager README
easynav_octomap_maps_manager	Manages OctoMap 3D occupancy trees.	easynav_octomap_maps_manager README
easynav_costmap_maps_manager	Manages Costmap2D layers with filters.	easynav_costmap_maps_manager README
easynav_simple_maps_manager	Minimal example map manager for SimpleMap.	easynav_simple_maps_manager README

—

📍 Localizers

Localization plugins based on different map types and sensors.

Package	Description	Documentation
easynav_gps_localizer	GPS-based localizer for outdoor navigation.	easynav_gps_localizer README
easynav_simple_localizer	Basic localizer for SimpleMap-based setups.	easynav_simple_localizer README
easynav_navmap_localizer	AMCL-like localizer operating on NavMap meshes.	easynav_navmap_localizer README
easynav_costmap_localizer	AMCL-like localizer using Costmap2D.	easynav_costmap_localizer README

—

License

All packages in this repository are released under GPL-3.0-only, unless stated otherwise in their respective package directories.