【ROS】Nav2源码navigation2详解

1、简述

ROS2的导航框架项目是Nav2,源码是navigation2,地址:https://github.com/ros-planning/navigation2

1)根目录列表

~/git/navigation2$ ls
codecov.yml  nav2_amcl           nav2_collision_monitor     nav2_costmap_2d         nav2_msgs                               nav2_rviz_plugins      nav2_theta_star_planner  navigation2
doc          nav2_behaviors      nav2_common                nav2_dwb_controller     nav2_navfn_planner                      nav2_simple_commander  nav2_util                README.md
Dockerfile   nav2_behavior_tree  nav2_constrained_smoother  nav2_lifecycle_manager  nav2_planner                            nav2_smac_planner      nav2_velocity_smoother   tools
Doxyfile     nav2_bringup        nav2_controller            nav2_map_server         nav2_regulated_pure_pursuit_controller  nav2_smoother          nav2_voxel_grid
LICENSE      nav2_bt_navigator   n

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