============= Path planning ============= Path planning is the process of finding a path from a start point to a goal point through obstacles. .. image:: /images/path_planning.png :width: 400 :alt: Path planning .. image:: /images/set_goal_for_nav.gif :width: 400 :alt: Setting a goal for navigation Global planning =============== Local planning ============== ROS 2 Packages and Messages ========================= * `nav2_bt_navigator `__ (replaces move_base) The BT Navigator receives a goal pose and navigates the robot to the specified destination(s). To do so, the module reads an XML description of the Behavior Tree from a file, as specified by a Node parameter, and passes that to a generic BehaviorTreeEngine class which uses the Behavior-Tree.CPP library to dynamically create and execute the BT. The BT XML can also be specified on a per-task basis so that your robot may have many different types of navigation or autonomy behaviors on a per-task basis ROS 1 ----- * **move_base** provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task.