Note: Docking and Semantic Navigation¶
You are probably here because the robot can navigate to places, but it still needs to dock reliably, respect special indoor rules, or behave differently in specific mapped areas.
Likely First Answer¶
Start with Docking and Semantic Navigation in Nav2.
If the Real Problem Is...¶
- keepout and speed-zone policy: Nav2 Costmap Filters and Mask Layers
- docking-specific action flow: Behavior Trees for Nav2 and Robot Autonomy
- localization drift near the final approach: Localization, State Estimation, and Frame Discipline
- exact no-go areas: Nav2 Keepout Zones and No-Go Areas