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