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nav_msgs

This package provides several messages and services for robotic navigation.

For more information about the navigation2 stack in ROS 2, see https://ros-planning.github.io/navigation2/.

For more information about ROS 2 interfaces, see docs.ros.org.

Messages (.msg)

• GridCells: An array of cells in a 2D grid.
• MapMetaData: Basic information about the characteristics of the OccupancyGrid.
• OccupancyGrid: Represents a 2-D grid map, in which each cell represents the probability of occupancy.
• Odometry: This represents an estimate of a position and velocity in free space.
• Path: An array of poses that represents a Path for a robot to follow.

Services (.srv)

• GetMap: Get the map as a nav_msgs/OccupancyGrid.
• GetPlan: Get a plan from the current position to the goal Pose.
• SetMap: Set a new map together with an initial pose.

Quality Declaration

This package claims to be in the Quality Level 2 category, see the Quality Declaration for more details.