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đ§ Navigation#
Navigation refers to a suite of capabilities that enables autonomous mobile robots to traverse complex environments while avoiding obstacles. These capabilities include:
Planning đ
Control đŽ
Localization đ
Mapping đēī¸
Behaviors đ¤
Logics đ§
Visualization đŧī¸
PAL robots use a Navigation system based on Nav2, the successor of the ROS (1) Navigation Stack. As such, we strongly recommend going through the Nav2 Documentation to grasp all the concepts and functionalities.
In addition to all the functionalities provided by Nav2, PAL robots come with a set of additional features, designed to enhance the autonomous capabilities of the robot and provide a better user experience.
This chapter aims to provide clear documentation, hands-on tutorials and an overview of the APIs to help you proficiently use, customize, or extend these additional PAL features. Thereby, it is NOT intended to explain Nav2 concepts as they are already clearly and deeply covered in the official Nav2 Documentation, to which we will frequently refer to highlight the underlying functionalities.