# ros2_navigation2 **Repository Path**: src-openeuler/ros2_navigation2 ## Basic Information - **Project Name**: ros2_navigation2 - **Description**: ROS2 Navigation Framework and System. - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 2 - **Forks**: 1 - **Created**: 2023-02-14 - **Last Updated**: 2025-03-20 ## Categories & Tags **Categories**: Uncategorized **Tags**: sig-ROS ## README # ros2_navigation2 #### 介绍 ROS2 Navigation Framework and System. #### 软件架构 软件架构说明 https://github.com/ros-planning/navigation2.git 文件内容: ``` ./ ├── codecov.yml ├── doc │   ├── architecture │   ├── design │   ├── parameters │   ├── process │   ├── README.md │   ├── requirements │   └── use_cases ├── Dockerfile ├── Doxyfile ├── LICENSE ├── nav2_amcl │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   ├── README.md │   └── src ├── nav2_behavior_tree │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── doc │   ├── groot_instructions.md │   ├── include │   ├── nav2_tree_nodes.xml │   ├── package.xml │   ├── plugins │   ├── README.md │   ├── src │   └── test ├── nav2_bringup │   ├── bringup │   └── nav2_gazebo_spawner ├── nav2_bt_navigator │   ├── behavior_trees │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── doc │   ├── include │   ├── package.xml │   ├── README.md │   └── src ├── nav2_common │   ├── cmake │   ├── CMakeLists.txt │   ├── nav2_common │   ├── nav2_common-extras.cmake │   └── package.xml ├── nav2_controller │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   ├── plugins │   ├── plugins.xml │   ├── README.md │   └── src ├── nav2_core │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   └── README.md ├── nav2_costmap_2d │   ├── cfg │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── costmap_plugins.xml │   ├── include │   ├── launch │   ├── package.xml │   ├── plugins │   ├── README.md │   ├── src │   └── test ├── nav2_dwb_controller │   ├── costmap_queue │   ├── dwb_core │   ├── dwb_critics │   ├── dwb_msgs │   ├── dwb_plugins │   ├── images │   ├── nav_2d_msgs │   ├── nav_2d_utils │   ├── nav2_dwb_controller │   └── README.md ├── nav2_lifecycle_manager │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── doc │   ├── include │   ├── package.xml │   ├── README.md │   ├── src │   └── test ├── nav2_map_server │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── cmake_modules │   ├── include │   ├── launch │   ├── package.xml │   ├── README.md │   ├── src │   └── test ├── nav2_msgs │   ├── action │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── msg │   ├── package.xml │   ├── README.md │   └── srv ├── nav2_navfn_planner │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── global_planner_plugin.xml │   ├── include │   ├── package.xml │   ├── README.md │   └── src ├── nav2_planner │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   ├── README.md │   └── src ├── nav2_recoveries │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   ├── plugins │   ├── README.md │   ├── recovery_plugin.xml │   ├── src │   └── test ├── nav2_regulated_pure_pursuit_controller │   ├── CMakeLists.txt │   ├── doc │   ├── include │   ├── nav2_regulated_pure_pursuit_controller.xml │   ├── package.xml │   ├── README.md │   ├── src │   └── test ├── nav2_rviz_plugins │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   ├── plugins_description.xml │   └── src ├── nav2_system_tests │   ├── CMakeLists.txt │   ├── maps │   ├── models │   ├── package.xml │   ├── README.md │   ├── scripts │   ├── src │   ├── urdf │   └── worlds ├── nav2_util │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   ├── README.md │   ├── src │   └── test ├── nav2_voxel_grid │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   ├── README.md │   ├── src │   └── test ├── nav2_waypoint_follower │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   ├── README.md │   └── src ├── navigation2 │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   └── package.xml ├── README.md ├── smac_planner │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   ├── README.md │   ├── smac_plugin_2d.xml │   ├── smac_plugin.xml │   ├── src │   └── test └── tools ├── bt2img.py ├── build_all.sh ├── code_coverage_report.bash ├── ctest_retry.bash ├── initial_ros_setup.sh ├── release.Dockerfile ├── ros2_dependencies.repos ├── run_sanitizers ├── run_test_suite.bash ├── skip_keys.txt ├── source.Dockerfile └── update_bt_diagrams.bash ``` #### 安装教程 1. 下载RPM包 aarch64: ``` wget https://117.78.1.88/build/home:Chenjy4/openEuler_23.03_standard_86_64/aarch64/navigation2/ros-foxy-ros-navigation2-0.4.7-1.oe2203.aarch64.rpm ``` x86_64: ``` wget https://117.78.1.88/build/home:Chenjy4/openEuler_23.03_standard_x86_64/x86_64/navigation2/ros-foxy-ros-navigation2-0.4.7-1.oe2203.x86_64.rpm ``` 2. 安装rpm包 aarch64: ``` sudo rpm -ivh --nodeps --force ros-foxy-ros-navigation2-0.4.7-1.oe2203.aarch64.rpm ``` x86_64: ``` sudo rpm -ivh --nodeps --force ros-foxy-ros-navigation2-0.4.7-1.oe2203.x86_64.rpm ``` #### 使用说明 依赖环境安装: ``` sh /opt/ros/foxy/install_dependence.sh ``` 安装完成以后，在/opt/ros/foxy/目录下有如下输出,则表示安装成功。 输出: ``` ./ |-- COLCON_IGNORE |-- _local_setup_util_ps1.py |-- _local_setup_util_sh.py |-- bin |-- cmake |-- include |-- lib |-- lib64 |-- local_setup.bash |-- local_setup.ps1 |-- local_setup.sh |-- local_setup.zsh |-- setup.bash |-- setup.ps1 |-- setup.sh |-- setup.zsh |-- share `-- src ``` #### 参与贡献 1. Fork 本仓库 2. 新建 Feat_xxx 分支 3. 提交代码 4. 新建 Pull Request #### 特技 1. 使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md 2. Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com) 3. 你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目 4. [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目 5. Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help) 6. Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)