A hardened ROS 2 Nav2 distribution with behavior-tree recoveries, multi-floor map switching, costmap plugins for dynamic obstacles, and Foxglove-ready telemetry. One-command deploy to any ROS 2 Humble or Jazzy robot.
Nav2 Autonomy Stack
Production-tuned ROS 2 Nav2 stack with BT-based recovery and multi-floor maps.
A hardened ROS 2 Nav2 distribution with behavior-tree recoveries, multi-floor map switching, costmap plugins for dynamic obstacles, and Foxglove-ready telemetry. One-command deploy to any ROS 2 Humble or Jazzy robot.
- AMR fleets in warehouses
- Service robots in hospitals
- Multi-floor delivery routes
Deploys the RosLab Nav2 autonomy stack onto a ROS 2 Humble or Jazzy robot with a published /odom, /scan and TF tree.
- Ubuntu 22.04 (Humble) or 24.04 (Jazzy) on the robot
- ROS 2 desktop install with colcon and rosdep initialised
- Robot publishes /odom, /scan (LaserScan or PointCloud2) and base_link → odom TF
- RosLab licence key in $ROSLAB_LICENCE_KEY
- 01Pull the package
Authenticate to the RosLab registry and pull the Nav2 stack image.
docker login registry.roslab.ai -u $ROSLAB_USER -p $ROSLAB_LICENCE_KEY docker pull registry.roslab.ai/nav2-stack:1.4.0 - 02Drop in your map
Mount your floor map (.yaml + .pgm) into /maps.
cp my_floor.yaml my_floor.pgm ./maps/ - 03Launch the stack
Start the navigation graph with BT recoveries enabled.
ros2 launch roslab_nav2 bringup.launch.py map:=/maps/my_floor.yaml use_sim_time:=false - 04Send a goal
Drive the robot to a 2D pose to validate end-to-end planning.
ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose \ "{pose: {header: {frame_id: map}, pose: {position: {x: 2.0, y: 1.0}}}}"
You should see a successful plan in RViz and `/behavior_tree_log` reporting SUCCESS.
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