easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
jazzy

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
kilted

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	kilted
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
lyrical

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	lyrical
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

easynav repository

easynav easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_recovery easynav_sensors easynav_support_py easynav_system easynav_tools

ROS Distro
humble

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/EasyNavigation.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
easynav	0.5.0
easynav_common	0.5.0
easynav_controller	0.5.0
easynav_core	0.5.0
easynav_interfaces	0.5.0
easynav_localizer	0.5.0
easynav_maps_manager	0.5.0
easynav_planner	0.5.0
easynav_recovery	0.5.0
easynav_sensors	0.5.0
easynav_support_py	0.5.0
easynav_system	0.5.0
easynav_tools	0.5.0

README

EasyNavigation

Web: https://easynavigation.github.io

Doxygen documentation: https://EasyNavigation.github.io/EasyNavigation/

eu_funded_en Funded by the European Union through the Horizon Europe programme under Grant Agreement No. 101070254 (CoreSense), and by MICIU/AEI/10.13039/501100011033 and ERDF/EU under grants PERMAP PID2024-161761OB-C21 and PLANNAV PID2024-161761OB-C22 (AURORAS).

📋 Roadmap Project: RoadMap

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be:

✅ Representation-agnostic, supporting a wide variety of environment models: 2D costmaps, elevation-aware gridmaps, Octomap-based 3D representations, raw point clouds, or hybrid combinations.
⚡ Real-time capable, minimizing latency between perception and action.
🧩 Modular, through a plugin architecture and reusable navigation stacks.
🚀 Lightweight and simple to deploy, using a single binary and a parameter file for configuration.
🧪 Simulation-ready, thanks to a rich collection of PlayGrounds with different robots and environments.

EasyNav is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos, and aims to be a flexible, extensible, and practical alternative to existing ROS 2 navigation stacks such as Nav2.

📦 Main Repositories

Repository	Description
EasyNavigation	Core of the EasyNav system, providing the navigation core, plugin management, and runtime execution.
easynav_plugins	Collection of plugins implementing various map managers, planners, localizers, and controllers.
NavMap	Surface-based map representation for navigable 3D environments, providing geometric and semantic layers for efficient navigation.
easynav_gridmap_stack	EasyNav stack built around GridMaps (ANYbotics/grid_map), integrating gridmap-based planners and controllers.
easynav_playgrounds	The PlayGrounds: complete Gazebo simulations with ready-to-run EasyNav configurations, for the Kobuki (indoor reference), the Summit XL (outdoor reference), TIAGo and omnidirectional robots. Each one comes as three packages: the robot description, the Gazebo worlds and the EasyNav configurations.

👥 Project Maintainers

Name	Organization	GitHub	Role
Francisco Martín Rico	Universidad Rey Juan Carlos	fmrico	Project Lead
Francisco Miguel Moreno Olivo	Universidad Rey Juan Carlos	butakus	Core Developer
José Miguel Guerrero Hernández	Universidad Rey Juan Carlos	jmguerreroh	Developer
Juan Sebastián Cely Gutiérrez	Universidad Rey Juan Carlos	juanscelyg	Developer
Esther Aguado González	Universidad Rey Juan Carlos	estherag	Developer
Francisco José Romero Ramírez	Universidad Rey Juan Carlos	kiko2r	Developer
Miguel de Miguel Paraiso	Universidad Rey Juan Carlos	midemig	Advisor
Jorge Beltrán de la Cita	Universidad Rey Juan Carlos	beltransen	Advisor

easynav repository

ROS Distrohumble

Repository Summary

Packages

README

EasyNavigation

📦 Main Repositories

👥 Project Maintainers

CONTRIBUTING

easynav repository

ROS Distrojazzy

Repository Summary

Packages

README

EasyNavigation

📦 Main Repositories

👥 Project Maintainers

CONTRIBUTING

easynav repository

ROS Distrokilted

Repository Summary

Packages

README

EasyNavigation

📦 Main Repositories

👥 Project Maintainers

CONTRIBUTING

easynav repository

ROS Distrolyrical

Repository Summary

Packages

README

EasyNavigation

📦 Main Repositories

👥 Project Maintainers

CONTRIBUTING

easynav repository

ROS Distrohumble

Repository Summary

Packages

README

EasyNavigation

📦 Main Repositories

👥 Project Maintainers

CONTRIBUTING

easynav repository

ROS Distrohumble

Repository Summary

Packages

README

EasyNavigation

📦 Main Repositories

👥 Project Maintainers

CONTRIBUTING

easynav repository

ROS Distrohumble

Repository Summary

Packages

README

EasyNavigation

📦 Main Repositories

👥 Project Maintainers

CONTRIBUTING

easynav repository

ROS Distrohumble

Repository Summary

Packages

README

EasyNavigation

📦 Main Repositories

👥 Project Maintainers

CONTRIBUTING

easynav repository

ROS Distrohumble

Repository Summary

Packages

README

EasyNavigation

📦 Main Repositories

👥 Project Maintainers

ROS Distro
humble

ROS Distro
jazzy

ROS Distro
kilted

ROS Distro
lyrical

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble