📋 Roadmap Project: RoadMap
EasyNav Plugins provides the official collection of plugins for the Easy Navigation (EasyNav) framework.
These plugins extend the navigation core with planners, controllers, map managers, and localizers compatible with ROS 2.
Each plugin resides in its own ROS 2 package and is registered via pluginlib, allowing dynamic loading at runtime.
Path planning plugins implementing A*, costmap, or NavMap–based methods.
| Package | Description | Link |
|---|---|---|
easynav_costmap_planner |
A* planner over Costmap2D. |
README |
easynav_simple_planner |
Simple A* planner for SimpleMap. |
README |
easynav_navmap_planner |
A* planner over a NavMap mesh. | README |
Motion controllers for trajectory tracking and reactive behaviors.
| Package | Description | Link |
|---|---|---|
easynav_vff_controller |
Vector Field Force (VFF) reactive controller. | README |
easynav_mppi_controller |
Model Predictive Path Integral (MPPI) controller. | README |
easynav_simple_controller |
Simple proportional controller for testing. | README |
easynav_serest_controller |
SeReST (Safe Reactive Steering) controller. | README |
easynav_mpc_controller |
Model Predictive Controller (MPC). | README |
Map management plugins that provide, update, and store different environment representations.
| Package | Description | Link |
|---|---|---|
easynav_navmap_maps_manager |
Manages NavMap mesh layers. | README |
easynav_bonxai_maps_manager |
Manages Bonxai probabilistic voxel maps. | README |
easynav_octomap_maps_manager |
Manages OctoMap 3D occupancy trees. | README |
easynav_costmap_maps_manager |
Manages Costmap2D layers with filters. | README |
easynav_simple_maps_manager |
Minimal example map manager (SimpleMap). | README |
Localization plugins based on different map types and sensors.
| Package | Description | Link |
|---|---|---|
easynav_gps_localizer |
GPS-based localizer for outdoor navigation. | README |
easynav_simple_localizer |
Basic localizer for SimpleMap–based setups. | README |
easynav_navmap_localizer |
AMCL-like localizer operating on NavMap meshes. | README |
easynav_costmap_localizer |
AMCL-like localizer using Costmap2D. | README |
easynav_fusion_localizer |
Multi-sensor fusion localizer (e.g., GPS + odometry + map). | README |
All packages in this repository are released under GPL-3.0-only unless stated otherwise in the individual package.