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  • Build & Install
    • Supported platforms
    • Prerequisites
    • Install from binaries (APT)
    • Build from source
      • Workspace layout
      • Clone sources
      • Install dependencies
      • Configure and build
      • Source the overlay
      • Run tests (optional)
    • Troubleshooting
    • Uninstall / clean
    • Next steps
  • Getting Started
    • Overview
    • Workspace layout
    • Repository overview
    • Simulation setup
    • Launching EasyNav
    • Visualizing in RViz2
    • Sending navigation goals
    • Visualizing internal process with the TUI
    • Troubleshooting
    • Next steps
  • EasyNav Plugins
    • Supported ROS 2 versions
    • Repository overview
    • 🧭 Planners
    • ⚙️ Controllers
    • 🗺️ Maps Managers
    • 📍 Localizers
    • License
  • HowTos and Practical Guides
    • 📘 Overview
    • Simple Stack
      • Mapping with SLAM Toolbox and EasyNav
        • Overview
        • Setup
        • Running SLAM Toolbox
        • Step-by-Step Instructions
        • Using EasyNav to Receive and Save the Map
        • Saving and Reusing the Map
        • Notes
      • Navigating with SimpleStack and EasyNav
        • Overview
        • Creating a Parameter File
        • Running the Simulation
        • Notes
    • Costmap Stack
      • Mapping with the Costmap Stack
        • Setup
        • Overview
        • Example parameters
        • Running and visualizing
        • Saving maps
      • Mapping with SLAM Toolbox and EasyNav
        • Setup
        • Mapping and Preparation
        • Creating a Parameter File
        • Running the Simulation
        • Notes
      • 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
      • Using the Routes Maps Manager with Costmaps
        • 1) Creating routes
        • 2) Using the routes for navigation
    • GridMap Stack
      • 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
    • Bonxai Stack
      • Building Bonxai and NavMap Maps from a Recorded ROSBag
        • 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
    • NavMap Stack
      • Building Bonxai and NavMap Maps from a Recorded ROSBag
        • 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
    • 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)
        • Notes
    • General
      • Multi-Robot Navigation with EasyNav
        • Overview
        • Setup
        • 1. Topic Naming and TF Management (Plugin developers)
        • 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
  • Developers Guide
    • Core Design and Architecture
      • NavState: The Shared Blackboard
      • Real-Time Execution Model
    • How to use the NavState BlackBoard
      • Overview
      • Basic API
      • Examples from Plugins
      • Advanced Features
      • Best Practices
      • Conclusion
    • Sensor Input and Perception Handling
      • Sensor Configuration
      • 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
      • Extending to Other Modalities
    • Sending Navigation Commands to EasyNav
      • Primary Method: /easynav_control Topic
        • Protocol Description
        • Using GoalManagerClient
      • Secondary Method: /goal_pose Topic
      • Conclusion
    • Overview
    • Further Reading
  • About and Contact
    • About
    • Contact
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