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Port the DWB local planner to lifecycle nodes (#655)
Michael Jeronimo authored 
* Port the dwb code to lifecycle nodes

* Add a few missing dependencies & some misc. fix-ups

* Address some review feedback
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.circleci
.github
doc
nav2_amcl
nav2_bringup
nav2_bt_navigator
nav2_common
nav2_costmap_2d
nav2_dwb_controller
nav2_dynamic_params
nav2_experimental
nav2_lifecycle
nav2_lifecycle_manager
nav2_map_server
nav2_mission_executor
nav2_motion_primitives
nav2_msgs
nav2_navfn_planner
nav2_robot
nav2_rviz_plugins
nav2_system_tests
nav2_tasks
nav2_util
nav2_voxel_grid
nav2_world_model
navigation2
tools
.gitignore
.travis.yml
Dockerfile
Dockerfile.crystal
Doxyfile
README.md
README.md

Navigation2

ROS2 Navigation System

Build Status CircleCI

Build Status DockerHub

Build Status Travis

Build Status ROS Build Farm

Pulls

codecov

Overview

The ROS 2 Navigation System is the control system that enables a robot to autonomously reach a goal state, such as a specific position and orientation relative to a specific map. Given a current pose, a map, and a goal, such as a destination pose, the navigation system generates a plan to reach the goal, and outputs commands to autonomously drive the robot, respecting any safety constraints and avoiding obstacles encountered along the way.

Contributing

We are currently in the pre-release development phase, contributions are welcome. To contribute, see the documentation README.

Building the source

For instructions on how to download and build this repo, see the BUILD.md file.

Creating a docker image

To build an image from the Dockerfile in the navigation2 folder: First, clone the repo to your local system (or see Building the source above)

sudo docker build -t nav2/latest .

If proxies are needed:

sudo docker build -t nav2/latest --build-arg http_proxy=http://proxy.my.com:### --build-arg https_proxy=http://proxy.my.com:### .

Note: You may also need to configure your docker for DNS to work. See article here for details: https://development.robinwinslow.uk/2016/06/23/fix-docker-networking-dns/

Using CI build docker container

We allow for you to pull the latest docker image from the master branch at any time. As new releases and tags are made, docker containers on docker hub will be versioned as well to chose from.

sudo docker pull stevemacenski/navigation2:latest