ROS Index
Repository Summary
| Description | |
| Checkout URI | https://github.com/EasyNavigation/easynav_plugins.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-10-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| easynav_costmap_common | 0.5.1 |
| easynav_simple_common | 0.5.1 |
| easynav_mpc_controller | 0.5.1 |
| easynav_mppi_controller | 0.5.1 |
| easynav_regulated_pp_controller | 0.5.1 |
| easynav_serest_controller | 0.5.1 |
| easynav_simple_controller | 0.5.1 |
| easynav_vff_controller | 0.5.1 |
| easynav_costmap_localizer | 0.5.1 |
| easynav_fusion_localizer | 0.5.1 |
| easynav_mhamcl_localizer | 0.5.1 |
| easynav_navmap_localizer | 0.5.1 |
| easynav_simple_localizer | 0.5.1 |
| easynav_bonxai_maps_manager | 0.5.1 |
| easynav_costmap_maps_manager | 0.5.1 |
| easynav_navmap_maps_manager | 0.5.1 |
| easynav_octomap_maps_manager | 0.5.1 |
| easynav_routes_maps_manager | 0.5.1 |
| easynav_simple_maps_manager | 0.5.1 |
| easynav_costmap_planner | 0.5.1 |
| easynav_navmap_planner | 0.5.1 |
| easynav_simple_planner | 0.5.1 |
| easynav_diagnostic_recovery | 0.5.1 |
| easynav_simple_recovery | 0.5.1 |
README
EasyNav Plugins
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).
📋 Roadmap Project: RoadMap
Description
EasyNav Plugins provides the official collection of plugins for the Easy Navigation (EasyNav) framework.
These plugins extend the navigation core with planners, controllers, maps managers, localizers and recovery systems compatible with ROS 2.
Each plugin resides in its own ROS 2 package and is registered via pluginlib, allowing dynamic loading at runtime.
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble |  |
| jazzy |  |
| kilted |  |
| lyrical |  |
| rolling |  |
Installation
With APT (Humble, Jazzy, Kilted and Lyrical), install the plugins your configuration uses:
sudo apt install ros-<distro>-easynav-costmap-maps-manager ros-<distro>-easynav-regulated-pp-controller
They are also available with Pixi and from source (cloning this repository builds all of them). See the installation guide.
Repository Structure
🧭 Planners
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 |
⚙️ Controllers
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 |
easynav_regulated_pp_controller |
Regulated Pure Pursuit controller, with optional Dynamic Window (DWPP) extension. | README |
🗺️ Maps Managers
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 |
easynav_routes_maps_manager |
Manages navigation routes (2D or 3D), editable in RViz with interactive markers. | README |
📍 Localizers
Localization plugins based on different map types and sensors.
| Package | Description | Link |
|---|---|---|
easynav_simple_localizer |
Basic localizer for SimpleMap–based setups. | README |
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | |
| Checkout URI | https://github.com/EasyNavigation/easynav_plugins.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2026-10-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| easynav_costmap_common | 0.5.1 |
| easynav_simple_common | 0.5.1 |
| easynav_mpc_controller | 0.5.1 |
| easynav_mppi_controller | 0.5.1 |
| easynav_regulated_pp_controller | 0.5.1 |
| easynav_serest_controller | 0.5.1 |
| easynav_simple_controller | 0.5.1 |
| easynav_vff_controller | 0.5.1 |
| easynav_costmap_localizer | 0.5.1 |
| easynav_fusion_localizer | 0.5.1 |
| easynav_mhamcl_localizer | 0.5.1 |
| easynav_navmap_localizer | 0.5.1 |
| easynav_simple_localizer | 0.5.1 |
| easynav_bonxai_maps_manager | 0.5.1 |
| easynav_costmap_maps_manager | 0.5.1 |
| easynav_navmap_maps_manager | 0.5.1 |
| easynav_octomap_maps_manager | 0.5.1 |
| easynav_routes_maps_manager | 0.5.1 |
| easynav_simple_maps_manager | 0.5.1 |
| easynav_costmap_planner | 0.5.1 |
| easynav_navmap_planner | 0.5.1 |
| easynav_simple_planner | 0.5.1 |
| easynav_diagnostic_recovery | 0.5.1 |
| easynav_simple_recovery | 0.5.1 |
README
EasyNav Plugins
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).
📋 Roadmap Project: RoadMap
Description
EasyNav Plugins provides the official collection of plugins for the Easy Navigation (EasyNav) framework.
These plugins extend the navigation core with planners, controllers, maps managers, localizers and recovery systems compatible with ROS 2.
Each plugin resides in its own ROS 2 package and is registered via pluginlib, allowing dynamic loading at runtime.
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Installation
With APT (Humble, Jazzy, Kilted and Lyrical), install the plugins your configuration uses:
sudo apt install ros-<distro>-easynav-costmap-maps-manager ros-<distro>-easynav-regulated-pp-controller
They are also available with Pixi and from source (cloning this repository builds all of them). See the installation guide.
Repository Structure
🧭 Planners
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 |
⚙️ Controllers
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 |
easynav_regulated_pp_controller |
Regulated Pure Pursuit controller, with optional Dynamic Window (DWPP) extension. | README |
🗺️ Maps Managers
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 |
easynav_routes_maps_manager |
Manages navigation routes (2D or 3D), editable in RViz with interactive markers. | README |
📍 Localizers
Localization plugins based on different map types and sensors.
| Package | Description | Link |
|---|---|---|
easynav_simple_localizer |
Basic localizer for SimpleMap–based setups. | README |
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | |
| Checkout URI | https://github.com/EasyNavigation/easynav_plugins.git |
| VCS Type | git |
| VCS Version | kilted |
| Last Updated | 2026-10-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| easynav_costmap_common | 0.5.1 |
| easynav_simple_common | 0.5.1 |
| easynav_mpc_controller | 0.5.1 |
| easynav_mppi_controller | 0.5.1 |
| easynav_regulated_pp_controller | 0.5.1 |
| easynav_serest_controller | 0.5.1 |
| easynav_simple_controller | 0.5.1 |
| easynav_vff_controller | 0.5.1 |
| easynav_costmap_localizer | 0.5.1 |
| easynav_fusion_localizer | 0.5.1 |
| easynav_mhamcl_localizer | 0.5.1 |
| easynav_navmap_localizer | 0.5.1 |
| easynav_simple_localizer | 0.5.1 |
| easynav_bonxai_maps_manager | 0.5.1 |
| easynav_costmap_maps_manager | 0.5.1 |
| easynav_navmap_maps_manager | 0.5.1 |
| easynav_octomap_maps_manager | 0.5.1 |
| easynav_routes_maps_manager | 0.5.1 |
| easynav_simple_maps_manager | 0.5.1 |
| easynav_costmap_planner | 0.5.1 |
| easynav_navmap_planner | 0.5.1 |
| easynav_simple_planner | 0.5.1 |
| easynav_diagnostic_recovery | 0.5.1 |
| easynav_simple_recovery | 0.5.1 |
README
EasyNav Plugins
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).
📋 Roadmap Project: RoadMap
Description
EasyNav Plugins provides the official collection of plugins for the Easy Navigation (EasyNav) framework.
These plugins extend the navigation core with planners, controllers, maps managers, localizers and recovery systems compatible with ROS 2.
Each plugin resides in its own ROS 2 package and is registered via pluginlib, allowing dynamic loading at runtime.
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Installation
With APT (Humble, Jazzy, Kilted and Lyrical), install the plugins your configuration uses:
sudo apt install ros-<distro>-easynav-costmap-maps-manager ros-<distro>-easynav-regulated-pp-controller
They are also available with Pixi and from source (cloning this repository builds all of them). See the installation guide.
Repository Structure
🧭 Planners
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 |
⚙️ Controllers
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 |
easynav_regulated_pp_controller |
Regulated Pure Pursuit controller, with optional Dynamic Window (DWPP) extension. | README |
🗺️ Maps Managers
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 |
easynav_routes_maps_manager |
Manages navigation routes (2D or 3D), editable in RViz with interactive markers. | README |
📍 Localizers
Localization plugins based on different map types and sensors.
| Package | Description | Link |
|---|---|---|
easynav_simple_localizer |
Basic localizer for SimpleMap–based setups. | README |
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | |
| Checkout URI | https://github.com/EasyNavigation/easynav_plugins.git |
| VCS Type | git |
| VCS Version | lyrical |
| Last Updated | 2026-10-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| easynav_costmap_common | 0.5.1 |
| easynav_simple_common | 0.5.1 |
| easynav_mpc_controller | 0.5.1 |
| easynav_mppi_controller | 0.5.1 |
| easynav_regulated_pp_controller | 0.5.1 |
| easynav_serest_controller | 0.5.1 |
| easynav_simple_controller | 0.5.1 |
| easynav_vff_controller | 0.5.1 |
| easynav_costmap_localizer | 0.5.1 |
| easynav_fusion_localizer | 0.5.1 |
| easynav_mhamcl_localizer | 0.5.1 |
| easynav_navmap_localizer | 0.5.1 |
| easynav_simple_localizer | 0.5.1 |
| easynav_bonxai_maps_manager | 0.5.1 |
| easynav_costmap_maps_manager | 0.5.1 |
| easynav_navmap_maps_manager | 0.5.1 |
| easynav_octomap_maps_manager | 0.5.1 |
| easynav_routes_maps_manager | 0.5.1 |
| easynav_simple_maps_manager | 0.5.1 |
| easynav_costmap_planner | 0.5.1 |
| easynav_navmap_planner | 0.5.1 |
| easynav_simple_planner | 0.5.1 |
| easynav_diagnostic_recovery | 0.5.1 |
| easynav_simple_recovery | 0.5.1 |
README
EasyNav Plugins
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).
📋 Roadmap Project: RoadMap
Description
EasyNav Plugins provides the official collection of plugins for the Easy Navigation (EasyNav) framework.
These plugins extend the navigation core with planners, controllers, maps managers, localizers and recovery systems compatible with ROS 2.
Each plugin resides in its own ROS 2 package and is registered via pluginlib, allowing dynamic loading at runtime.
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Installation
With APT (Humble, Jazzy, Kilted and Lyrical), install the plugins your configuration uses:
sudo apt install ros-<distro>-easynav-costmap-maps-manager ros-<distro>-easynav-regulated-pp-controller
They are also available with Pixi and from source (cloning this repository builds all of them). See the installation guide.
Repository Structure
🧭 Planners
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 |
⚙️ Controllers
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 |
easynav_regulated_pp_controller |
Regulated Pure Pursuit controller, with optional Dynamic Window (DWPP) extension. | README |
🗺️ Maps Managers
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 |
easynav_routes_maps_manager |
Manages navigation routes (2D or 3D), editable in RViz with interactive markers. | README |
📍 Localizers
Localization plugins based on different map types and sensors.
| Package | Description | Link |
|---|---|---|
easynav_simple_localizer |
Basic localizer for SimpleMap–based setups. | README |
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | |
| Checkout URI | https://github.com/EasyNavigation/easynav_plugins.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-10-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| easynav_costmap_common | 0.5.1 |
| easynav_simple_common | 0.5.1 |
| easynav_mpc_controller | 0.5.1 |
| easynav_mppi_controller | 0.5.1 |
| easynav_regulated_pp_controller | 0.5.1 |
| easynav_serest_controller | 0.5.1 |
| easynav_simple_controller | 0.5.1 |
| easynav_vff_controller | 0.5.1 |
| easynav_costmap_localizer | 0.5.1 |
| easynav_fusion_localizer | 0.5.1 |
| easynav_mhamcl_localizer | 0.5.1 |
| easynav_navmap_localizer | 0.5.1 |
| easynav_simple_localizer | 0.5.1 |
| easynav_bonxai_maps_manager | 0.5.1 |
| easynav_costmap_maps_manager | 0.5.1 |
| easynav_navmap_maps_manager | 0.5.1 |
| easynav_octomap_maps_manager | 0.5.1 |
| easynav_routes_maps_manager | 0.5.1 |
| easynav_simple_maps_manager | 0.5.1 |
| easynav_costmap_planner | 0.5.1 |
| easynav_navmap_planner | 0.5.1 |
| easynav_simple_planner | 0.5.1 |
| easynav_diagnostic_recovery | 0.5.1 |
| easynav_simple_recovery | 0.5.1 |
README
EasyNav Plugins
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).
📋 Roadmap Project: RoadMap
Description
EasyNav Plugins provides the official collection of plugins for the Easy Navigation (EasyNav) framework.
These plugins extend the navigation core with planners, controllers, maps managers, localizers and recovery systems compatible with ROS 2.
Each plugin resides in its own ROS 2 package and is registered via pluginlib, allowing dynamic loading at runtime.
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Installation
With APT (Humble, Jazzy, Kilted and Lyrical), install the plugins your configuration uses:
sudo apt install ros-<distro>-easynav-costmap-maps-manager ros-<distro>-easynav-regulated-pp-controller
They are also available with Pixi and from source (cloning this repository builds all of them). See the installation guide.
Repository Structure
🧭 Planners
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 |
⚙️ Controllers
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 |
easynav_regulated_pp_controller |
Regulated Pure Pursuit controller, with optional Dynamic Window (DWPP) extension. | README |
🗺️ Maps Managers
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 |
easynav_routes_maps_manager |
Manages navigation routes (2D or 3D), editable in RViz with interactive markers. | README |
📍 Localizers
Localization plugins based on different map types and sensors.
| Package | Description | Link |
|---|---|---|
easynav_simple_localizer |
Basic localizer for SimpleMap–based setups. | README |
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | |
| Checkout URI | https://github.com/EasyNavigation/easynav_plugins.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-10-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| easynav_costmap_common | 0.5.1 |
| easynav_simple_common | 0.5.1 |
| easynav_mpc_controller | 0.5.1 |
| easynav_mppi_controller | 0.5.1 |
| easynav_regulated_pp_controller | 0.5.1 |
| easynav_serest_controller | 0.5.1 |
| easynav_simple_controller | 0.5.1 |
| easynav_vff_controller | 0.5.1 |
| easynav_costmap_localizer | 0.5.1 |
| easynav_fusion_localizer | 0.5.1 |
| easynav_mhamcl_localizer | 0.5.1 |
| easynav_navmap_localizer | 0.5.1 |
| easynav_simple_localizer | 0.5.1 |
| easynav_bonxai_maps_manager | 0.5.1 |
| easynav_costmap_maps_manager | 0.5.1 |
| easynav_navmap_maps_manager | 0.5.1 |
| easynav_octomap_maps_manager | 0.5.1 |
| easynav_routes_maps_manager | 0.5.1 |
| easynav_simple_maps_manager | 0.5.1 |
| easynav_costmap_planner | 0.5.1 |
| easynav_navmap_planner | 0.5.1 |
| easynav_simple_planner | 0.5.1 |
| easynav_diagnostic_recovery | 0.5.1 |
| easynav_simple_recovery | 0.5.1 |
README
EasyNav Plugins
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).
📋 Roadmap Project: RoadMap
Description
EasyNav Plugins provides the official collection of plugins for the Easy Navigation (EasyNav) framework.
These plugins extend the navigation core with planners, controllers, maps managers, localizers and recovery systems compatible with ROS 2.
Each plugin resides in its own ROS 2 package and is registered via pluginlib, allowing dynamic loading at runtime.
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Installation
With APT (Humble, Jazzy, Kilted and Lyrical), install the plugins your configuration uses:
sudo apt install ros-<distro>-easynav-costmap-maps-manager ros-<distro>-easynav-regulated-pp-controller
They are also available with Pixi and from source (cloning this repository builds all of them). See the installation guide.
Repository Structure
🧭 Planners
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 |
⚙️ Controllers
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 |
easynav_regulated_pp_controller |
Regulated Pure Pursuit controller, with optional Dynamic Window (DWPP) extension. | README |
🗺️ Maps Managers
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 |
easynav_routes_maps_manager |
Manages navigation routes (2D or 3D), editable in RViz with interactive markers. | README |
📍 Localizers
Localization plugins based on different map types and sensors.
| Package | Description | Link |
|---|---|---|
easynav_simple_localizer |
Basic localizer for SimpleMap–based setups. | README |
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | |
| Checkout URI | https://github.com/EasyNavigation/easynav_plugins.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-10-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| easynav_costmap_common | 0.5.1 |
| easynav_simple_common | 0.5.1 |
| easynav_mpc_controller | 0.5.1 |
| easynav_mppi_controller | 0.5.1 |
| easynav_regulated_pp_controller | 0.5.1 |
| easynav_serest_controller | 0.5.1 |
| easynav_simple_controller | 0.5.1 |
| easynav_vff_controller | 0.5.1 |
| easynav_costmap_localizer | 0.5.1 |
| easynav_fusion_localizer | 0.5.1 |
| easynav_mhamcl_localizer | 0.5.1 |
| easynav_navmap_localizer | 0.5.1 |
| easynav_simple_localizer | 0.5.1 |
| easynav_bonxai_maps_manager | 0.5.1 |
| easynav_costmap_maps_manager | 0.5.1 |
| easynav_navmap_maps_manager | 0.5.1 |
| easynav_octomap_maps_manager | 0.5.1 |
| easynav_routes_maps_manager | 0.5.1 |
| easynav_simple_maps_manager | 0.5.1 |
| easynav_costmap_planner | 0.5.1 |
| easynav_navmap_planner | 0.5.1 |
| easynav_simple_planner | 0.5.1 |
| easynav_diagnostic_recovery | 0.5.1 |
| easynav_simple_recovery | 0.5.1 |
README
EasyNav Plugins
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).
📋 Roadmap Project: RoadMap
Description
EasyNav Plugins provides the official collection of plugins for the Easy Navigation (EasyNav) framework.
These plugins extend the navigation core with planners, controllers, maps managers, localizers and recovery systems compatible with ROS 2.
Each plugin resides in its own ROS 2 package and is registered via pluginlib, allowing dynamic loading at runtime.
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Installation
With APT (Humble, Jazzy, Kilted and Lyrical), install the plugins your configuration uses:
sudo apt install ros-<distro>-easynav-costmap-maps-manager ros-<distro>-easynav-regulated-pp-controller
They are also available with Pixi and from source (cloning this repository builds all of them). See the installation guide.
Repository Structure
🧭 Planners
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 |
⚙️ Controllers
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 |
easynav_regulated_pp_controller |
Regulated Pure Pursuit controller, with optional Dynamic Window (DWPP) extension. | README |
🗺️ Maps Managers
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 |
easynav_routes_maps_manager |
Manages navigation routes (2D or 3D), editable in RViz with interactive markers. | README |
📍 Localizers
Localization plugins based on different map types and sensors.
| Package | Description | Link |
|---|---|---|
easynav_simple_localizer |
Basic localizer for SimpleMap–based setups. | README |
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | |
| Checkout URI | https://github.com/EasyNavigation/easynav_plugins.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-10-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| easynav_costmap_common | 0.5.1 |
| easynav_simple_common | 0.5.1 |
| easynav_mpc_controller | 0.5.1 |
| easynav_mppi_controller | 0.5.1 |
| easynav_regulated_pp_controller | 0.5.1 |
| easynav_serest_controller | 0.5.1 |
| easynav_simple_controller | 0.5.1 |
| easynav_vff_controller | 0.5.1 |
| easynav_costmap_localizer | 0.5.1 |
| easynav_fusion_localizer | 0.5.1 |
| easynav_mhamcl_localizer | 0.5.1 |
| easynav_navmap_localizer | 0.5.1 |
| easynav_simple_localizer | 0.5.1 |
| easynav_bonxai_maps_manager | 0.5.1 |
| easynav_costmap_maps_manager | 0.5.1 |
| easynav_navmap_maps_manager | 0.5.1 |
| easynav_octomap_maps_manager | 0.5.1 |
| easynav_routes_maps_manager | 0.5.1 |
| easynav_simple_maps_manager | 0.5.1 |
| easynav_costmap_planner | 0.5.1 |
| easynav_navmap_planner | 0.5.1 |
| easynav_simple_planner | 0.5.1 |
| easynav_diagnostic_recovery | 0.5.1 |
| easynav_simple_recovery | 0.5.1 |
README
EasyNav Plugins
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).
📋 Roadmap Project: RoadMap
Description
EasyNav Plugins provides the official collection of plugins for the Easy Navigation (EasyNav) framework.
These plugins extend the navigation core with planners, controllers, maps managers, localizers and recovery systems compatible with ROS 2.
Each plugin resides in its own ROS 2 package and is registered via pluginlib, allowing dynamic loading at runtime.
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Installation
With APT (Humble, Jazzy, Kilted and Lyrical), install the plugins your configuration uses:
sudo apt install ros-<distro>-easynav-costmap-maps-manager ros-<distro>-easynav-regulated-pp-controller
They are also available with Pixi and from source (cloning this repository builds all of them). See the installation guide.
Repository Structure
🧭 Planners
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 |
⚙️ Controllers
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 |
easynav_regulated_pp_controller |
Regulated Pure Pursuit controller, with optional Dynamic Window (DWPP) extension. | README |
🗺️ Maps Managers
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 |
easynav_routes_maps_manager |
Manages navigation routes (2D or 3D), editable in RViz with interactive markers. | README |
📍 Localizers
Localization plugins based on different map types and sensors.
| Package | Description | Link |
|---|---|---|
easynav_simple_localizer |
Basic localizer for SimpleMap–based setups. | README |
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | |
| Checkout URI | https://github.com/EasyNavigation/easynav_plugins.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-10-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| easynav_costmap_common | 0.5.1 |
| easynav_simple_common | 0.5.1 |
| easynav_mpc_controller | 0.5.1 |
| easynav_mppi_controller | 0.5.1 |
| easynav_regulated_pp_controller | 0.5.1 |
| easynav_serest_controller | 0.5.1 |
| easynav_simple_controller | 0.5.1 |
| easynav_vff_controller | 0.5.1 |
| easynav_costmap_localizer | 0.5.1 |
| easynav_fusion_localizer | 0.5.1 |
| easynav_mhamcl_localizer | 0.5.1 |
| easynav_navmap_localizer | 0.5.1 |
| easynav_simple_localizer | 0.5.1 |
| easynav_bonxai_maps_manager | 0.5.1 |
| easynav_costmap_maps_manager | 0.5.1 |
| easynav_navmap_maps_manager | 0.5.1 |
| easynav_octomap_maps_manager | 0.5.1 |
| easynav_routes_maps_manager | 0.5.1 |
| easynav_simple_maps_manager | 0.5.1 |
| easynav_costmap_planner | 0.5.1 |
| easynav_navmap_planner | 0.5.1 |
| easynav_simple_planner | 0.5.1 |
| easynav_diagnostic_recovery | 0.5.1 |
| easynav_simple_recovery | 0.5.1 |
README
EasyNav Plugins
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).
📋 Roadmap Project: RoadMap
Description
EasyNav Plugins provides the official collection of plugins for the Easy Navigation (EasyNav) framework.
These plugins extend the navigation core with planners, controllers, maps managers, localizers and recovery systems compatible with ROS 2.
Each plugin resides in its own ROS 2 package and is registered via pluginlib, allowing dynamic loading at runtime.
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Installation
With APT (Humble, Jazzy, Kilted and Lyrical), install the plugins your configuration uses:
sudo apt install ros-<distro>-easynav-costmap-maps-manager ros-<distro>-easynav-regulated-pp-controller
They are also available with Pixi and from source (cloning this repository builds all of them). See the installation guide.
Repository Structure
🧭 Planners
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 |
⚙️ Controllers
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 |
easynav_regulated_pp_controller |
Regulated Pure Pursuit controller, with optional Dynamic Window (DWPP) extension. | README |
🗺️ Maps Managers
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 |
easynav_routes_maps_manager |
Manages navigation routes (2D or 3D), editable in RViz with interactive markers. | README |
📍 Localizers
Localization plugins based on different map types and sensors.
| Package | Description | Link |
|---|---|---|
easynav_simple_localizer |
Basic localizer for SimpleMap–based setups. | README |
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Description | |
| Checkout URI | https://github.com/EasyNavigation/easynav_plugins.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-10-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| easynav_costmap_common | 0.5.1 |
| easynav_simple_common | 0.5.1 |
| easynav_mpc_controller | 0.5.1 |
| easynav_mppi_controller | 0.5.1 |
| easynav_regulated_pp_controller | 0.5.1 |
| easynav_serest_controller | 0.5.1 |
| easynav_simple_controller | 0.5.1 |
| easynav_vff_controller | 0.5.1 |
| easynav_costmap_localizer | 0.5.1 |
| easynav_fusion_localizer | 0.5.1 |
| easynav_mhamcl_localizer | 0.5.1 |
| easynav_navmap_localizer | 0.5.1 |
| easynav_simple_localizer | 0.5.1 |
| easynav_bonxai_maps_manager | 0.5.1 |
| easynav_costmap_maps_manager | 0.5.1 |
| easynav_navmap_maps_manager | 0.5.1 |
| easynav_octomap_maps_manager | 0.5.1 |
| easynav_routes_maps_manager | 0.5.1 |
| easynav_simple_maps_manager | 0.5.1 |
| easynav_costmap_planner | 0.5.1 |
| easynav_navmap_planner | 0.5.1 |
| easynav_simple_planner | 0.5.1 |
| easynav_diagnostic_recovery | 0.5.1 |
| easynav_simple_recovery | 0.5.1 |
README
EasyNav Plugins
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).
📋 Roadmap Project: RoadMap
Description
EasyNav Plugins provides the official collection of plugins for the Easy Navigation (EasyNav) framework.
These plugins extend the navigation core with planners, controllers, maps managers, localizers and recovery systems compatible with ROS 2.
Each plugin resides in its own ROS 2 package and is registered via pluginlib, allowing dynamic loading at runtime.
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Installation
With APT (Humble, Jazzy, Kilted and Lyrical), install the plugins your configuration uses:
sudo apt install ros-<distro>-easynav-costmap-maps-manager ros-<distro>-easynav-regulated-pp-controller
They are also available with Pixi and from source (cloning this repository builds all of them). See the installation guide.
Repository Structure
🧭 Planners
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 |
⚙️ Controllers
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 |
easynav_regulated_pp_controller |
Regulated Pure Pursuit controller, with optional Dynamic Window (DWPP) extension. | README |
🗺️ Maps Managers
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 |
easynav_routes_maps_manager |
Manages navigation routes (2D or 3D), editable in RViz with interactive markers. | README |
📍 Localizers
Localization plugins based on different map types and sensors.
| Package | Description | Link |
|---|---|---|
easynav_simple_localizer |
Basic localizer for SimpleMap–based setups. | README |
File truncated at 100 lines see the full file