EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:
✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.
EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.
Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).
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| Repository | Description |
|---|---|
| EasyNavigation | Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution. |
| easynav_plugins | Collection of plugins implementing various map managers, planners, localizers, and controllers. |
| NavMap | Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation. |
| easynav_gridmap_stack | EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers. |
| easynav_playground_kobuki | PlayGround with the Kobuki mobile robot in indoor simulation environments. |
| easynav_playground_summit | PlayGround featuring the Summit XL robot in outdoor environments. |
| Name | Organization | GitHub | Role |
|---|---|---|---|
| Francisco Martín Rico | Universidad Rey Juan Carlos | fmrico | Project Lead |
| Francisco Miguel Moreno Olivo | Universidad Rey Juan Carlos | butakus | Core Developer |
| José Miguel Guerrero Hernández | Universidad Rey Juan Carlos | jmguerreroh | Developer |
| Juan Sebastián Cely Gutiérrez | Universidad Rey Juan Carlos | juanscelyg | Developer |
| Esther Aguado González | Universidad Rey Juan Carlos | estherag | Developer |
| Francisco José Romero Ramírez | Universidad Rey Juan Carlos | kiko2r | Developer |
| Miguel de Miguel Paraiso | Universidad Rey Juan Carlos | midemig | Advisor |
| Jorge Beltrán de la Cita | Universidad Rey Juan Carlos | beltransen | Advisor |
📋 Roadmap Project: RoadMap
