Summary
This chapter explained how to use the ROS 2 Navigation Stack, called Nav2, for autonomous robot navigation. Nav2 helps robots move from one place to another by planning paths, avoiding obstacles, and controlling movement. The chapter introduced Nav2, its installation on ROS 2 Jazzy, and how to set it up with Slam Toolbox to create maps of the environment. It covered key components like localization, path planning, behavior trees, and lifecycle management, which help in making navigation smooth and efficient. The chapter also included practical steps to configure Nav2 for a robot and demonstrated its use in a hospital scenario for medicine delivery during COVID-19. Additionally, it explained how to develop navigation applications using C++ and behavior trees to automate robot movement. The chapter included guides on installing, configuring, and running Nav2 in simulations and on real robots.
In the next chapter, we will see how to work with a robotic arm using ROS 2 and...