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Path Planning for Bipedal Humanoids with Nav2

🗺️ Introduction to Nav2​

Nav2 (Navigation2) is the ROS 2 navigation stack providing:

  • Path planning
  • Obstacle avoidance
  • Recovery behaviors
  • Waypoint following

🚀 Setting Up Nav2​

# nav2_params.yaml
bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_link
    
planner_server:
  ros__parameters:
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      
controller_server:
  ros__parameters:
    controller_plugins: ["FollowPath"]
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"

🤖 Bipedal Navigation​

import rclpy
from rclpy.node import Node
from nav2_simple_commander.robot_navigator import BasicNavigator
from geometry_msgs.msg import PoseStamped

class HumanoidNavigator(Node):
    def __init__(self):
        super().__init__('humanoid_navigator')
        self.navigator = BasicNavigator()
        
    def navigate_to_goal(self, x, y, theta):
        goal_pose = PoseStamped()
        goal_pose.header.frame_id = 'map'
        goal_pose.header.stamp = self.get_clock().now().to_msg()
        goal_pose.pose.position.x = x
        goal_pose.pose.position.y = y
        goal_pose.pose.orientation.z = theta
        
        self.navigator.goToPose(goal_pose)
        
        while not self.navigator.isTaskComplete():
            feedback = self.navigator.getFeedback()
            self.get_logger().info(f'Distance remaining: {feedback.distance_remaining}')
        
        result = self.navigator.getResult()
        if result == TaskResult.SUCCEEDED:
            self.get_logger().info('Goal reached!')

🎯 Key Takeaways​

  • Nav2 provides complete navigation stack
  • Supports custom planners for bipedal robots
  • Handles dynamic obstacles
  • Essential for autonomous humanoids

Next: Hands-On Lab →