Note: Nav2 Architecture¶
You are probably here because Nav2 feels like one large black box and you need to know where the real problem likely lives.
Likely First Answer¶
Start with Nav2 Architecture and Tuning Guide.
If the Real Problem Is...¶
- planning quality: Nav2 Planner Selection Guide
- path tracking or motion feel: Nav2 Controller Selection Guide
- stale or wrong obstacles: Nav2 Costmap Architecture and Plugin Order
- recovery behavior: Nav2 Behavior Server and Recovery Actions
- autonomy logic: Behavior Trees for Nav2 and Robot Autonomy