ros-navigation/navigation2

• Behavior Trees - A system that manages complex robot routines and recovery logic using a hierarchical tree of modular task servers.
• Autonomous Robot Navigation - Enables robots to move independently to specified locations using sensor data and obstacle avoidance.
• Navigation Frameworks - Provides a comprehensive modular software stack for autonomous robot navigation, integrating planning, control, and orchestration.
• Drivetrain Velocity Translation - Translates planned paths into velocity commands tailored to specific drivetrain types like differential or holonomic.
• Motion Planning - Manages path planning and obstacle avoidance through a reconfigurable XML behavior tree structure.
• Execution Flow Controls - Manages the flow of robot behaviors using sequences, recovery loops, and non-blocking execution patterns.
• Physical Target Navigation - Guides robots to specific target poses using behavior tree action servers.
• Costmap Generation - Creates and maintains 2D grid representations of traversable space using sensor data and static maps.
• Ground Robot Obstacle Avoidance - Detects surroundings using sensors to prevent collisions and navigate around keepout zones for ground robots.
• Autonomous Motion Orchestration - NavBot orchestrates autonomous movement by computing paths to goals and managing routines like docking.
• Collision Monitoring Systems - Analyzes sensor data in real-time to detect imminent collisions and trigger safety responses.
• Emergency Stop Triggers - Monitors sensor data to trigger emergency stops independently of trajectory planners.
• Static Map Localization - Determines the robot's current pose within a pre-existing spatial map to ensure accurate movement.
• Kinematic Path Planning - Computes collision-free routes that respect the physical movement constraints of the robot.
• Kinematic Motion Control - Translates planned trajectories into kinematic velocity commands tailored to specific robot drivetrain types.
• Path Planning Algorithms - Calculates valid routes from a starting position to a target destination using shortest-path or coverage algorithms.
• Dynamic Path Replanning - Triggers new path calculations if the current path is invalidated or a new goal is received.
• Multi-Waypoint Path Planning - Computes routes through a sequence of intermediary pose constraints to a final goal.
• Robotic Path Planners - Calculates collision-free global routes and local trajectories based on environment maps and sensor data.
• Local Trajectory Calculation - Implements the Dynamic Window Approach to generate optimal local velocity commands for obstacle avoidance and goal reaching.
• Grid-Based Costmaps - Provides grid-based costmap representations to identify traversable areas based on sensor data.
• Waypoint Navigation Automators - Implements logic to navigate through multiple intermediary poses and maintain smooth transitions between waypoints.
• Chassis Velocity Control - Enforces speed limits and manages rotation behaviors to ensure safe robotic movement.
• Local Path Following - Calculates steering and velocity commands to track a path while avoiding obstacles.
• Map Data Management - NavBot loads static map files and maintains dynamic costmaps to represent navigable areas.
• Path Navigation - Plans and executes a path from a starting point to a target location while avoiding obstacles.
• Pose-Goal Navigation - Plans and executes a path from a starting point to a specific goal pose while avoiding obstacles.
• Plan-and-Execute Motion Workflows - Computes a feasible route and generates motor velocity commands while avoiding obstacles.
• Robot Localization and Mapping - Estimates the robot's precise position and orientation within a map to ensure accurate movement.
• Robot Pose Estimation - Provides the transformation between map and odometry frames using particle filters or SLAM.
• Sensor-Based World Modeling - NavBot converts raw sensor data into a world model used for navigation and collision checking.
• Reactive Path Following - Calculates a global path to a goal and uses a controller to follow it while replanning for new obstacles.
• Waypoint Mission Planners - Coordinates navigation through a series of predefined coordinates to execute specific tasks at each location.
• Robotic Spatial Modeling - NavBot converts raw sensor and semantic data into a spatial model to identify traversable areas.
• Component Lifecycle Coordination - Coordinates the startup and shutdown of servers to ensure a predictable and stable operational sequence.
• Modular Task Coordination - Coordinates modular task servers via behavior trees to manage complex logic and autonomous recovery actions.
• Orchestration Logic - Defines scalable multi-step task structures and reusable primitives through behavior tree orchestration logic.
• Robot Navigation Orchestration - Orchestrates robot movement using behavior trees to manage path sequencing and recovery logic.
• Task Execution Flow Controls - NavBot controls the order of navigation actions using sequences and recovery behaviors to ensure goal completion.
• Hierarchical Task Structures - Creates scalable and hierarchical structures for multi-step navigation tasks using behavior trees.
• System Health Monitors - Monitors real-time server health and operational states using a watchdog system.
• Robotic Behavior Execution - Executes specialized movement patterns by translating high-level logic into physical robot actions.
• Dynamic Planner Switching - Changes the active planner or controller via external messages to adapt to different environments.
• Object Tracking - Tracks a moving target via detection topics to maintain a specified distance.
• Environmental Map Masks - Applies spatial masks to environmental maps to enforce restricted zones and velocity limits.
• Navigation Algorithm Plugins - Allows the creation of custom plugins for controllers and planners to modify robot movement and perception.
• Dynamic Plugin Switching - NavBot adjusts planners and goal checkers on the fly to change how the robot navigates.
• Goal-Based - Verifies the arrival at a destination based on rotational and translational tolerances.
• Spline Trajectory Generators - Refines raw paths into continuous curves to avoid abrupt direction changes.
• Costmap Sensor Integrations - NavBot integrates depth sensors and AI outputs to mark navigable space within a costmap.
• Goal-Area Obstacle Handling - Pauses navigation when a temporary obstacle appears near the goal and waits for a clear path.
• Pose Sequence Navigation - Guides a robot through a sequence of multiple target poses in order.
• Deterministic Graph Navigation - Enables deterministic robot movement by navigating through pre-defined spatial graphs.
• Sensor Fusion - Combines data from multiple sensors and GPS transformations to maintain an accurate position estimate.
• SLAM Algorithms - Implements simultaneous localization and mapping to build environmental maps while tracking robot position.
• Kinematic Path Smoothing - Refines raw planned paths to ensure the trajectory is feasible for the robot's kinematics.
• Global Route Optimization - Optimizes planned routes for length and curvature while increasing obstacle clearance.
• Path Clearance Refinement - Improves computed paths by reducing raggedness and increasing clearance from obstacles.
• Route Smoothing - Provides path smoothing to eliminate abrupt rotations and increase obstacle clearance for more fluid robot movement.
• Graph-Based Route Computation - Calculates optimal paths between nodes in pre-defined navigation graphs to guide robot movement.
• Collision Checking - NavBot evaluates whether a specific footprint collides with obstacles based on current costmap data.
• Costmap Filtering - NavBot applies masks to a costmap to define safety areas or velocity restriction zones.
• Costmap Manipulation - NavBot clears costmaps and modifies individual cell costs or map dimensions.
• Hybrid Graph-Freespace Planning - Bridges the gap between open-space navigation and structured graph routing to ensure seamless goal connection.
• Lane-Based Navigation Routing - Computes optimal paths within pre-defined graphs specifically representing lanes and roadways.
• Multi-Destination Waypoint Sequencing - Sequences navigation to multiple destinations using Cartesian or GPS coordinates and executes location-specific tasks.
• Navigation Edge Costing - Assigns costs to navigation graph edges based on distance and semantic penalties to optimize route selection.
• Robot Basic Maneuvers - Performs simple movements such as in-place rotations, backing up, or assisted teleoperation.
• Robot Docking Management - Manages the process of autonomous docking and undocking at specified target poses.
• Robot Docking Systems - Provides docking and undocking capabilities using kinematic-specific plugins and a database of dock models.
• Navigation Path Smoothing - Provides a smoothing server to process computed paths into natural movement trajectories.
• Tracking Failure Recoveries - NavBot attempts contextual recoveries like clearing costmaps or performing backup maneuvers when path execution fails.
• Trajectory Cost Evaluation - Scores potential paths based on obstacle avoidance and goal alignment to ensure efficient travel.
• Waypoint Action Triggers - Performs specific actions, such as taking photos, upon arriving at designated waypoints.
• Waypoint Sequence Execution - Navigates through a series of designated locations and triggers unique tasks at every stop.
• Waypoint Sequence Following - Navigates through a series of predefined coordinates in a specific order.
• Adaptive Monte-Carlo Localization - Estimates robot position within a static map using an Adaptive Monte-Carlo Localizer.
• Asynchronous Action Handling - Implements asynchronous action handling to manage long-running navigation goals with continuous status updates.
• Plugin Integrations - Integrates custom algorithms into the navigation pipeline without requiring modifications to the core framework.
• Lifecycle-Managed Components - Coordinates the operational sequence of navigation servers through lifecycle-managed state transitions.
• Plugin-Based Extensibility - Features a plugin-based architecture allowing custom planners and controllers to be swapped at runtime.
• Robot Behavior Recoveries - Implements corrective actions such as clearing costmaps or spinning the robot to resolve navigation failures.
• Coverage Planning - Implements row-based coverage planning to ensure comprehensive navigation across a target area.
• Automatic Task Retries - NavBot restarts a navigation sequence multiple times to overcome transient obstacles before reporting an error.
• Task Sequence Orchestrations - Sequences navigation actions and logic using behavior tree nodes to implement complex workflows.
• Task Progress Monitors - Monitors forward progress toward a goal to detect if the robot is stuck or blocked.
• Path Progression Tracking - Monitors forward progress along a path to detect stalls or blockages.
• Goal Reach Verification - Determines if a robot has reached its destination using pose and distance tolerances.
• Geospatial Target Tracking - NavBot tracks a moving target by continuously replanning paths to a shifting goal.

Navigation2 是一个用于自主移动机器人的 ROS 2 导航框架。它提供了路径规划器、代价地图管理系统、运动学控制器和行为树编排器的核心功能，用于计算无碰撞路径并执行移动指令。