Humanoid Navigation Stack

ROS 2 Jazzy packages for field-coordinate conversion, collision-aware path planning, and holonomic path following.

Packages

Package	Purpose
field_coordinate_adapter	Converts pixel positions and yaw angles into the map frame
humanoid_path_planner	Generates a collision-aware nav_msgs/Path
humanoid_path_follower	Converts a map-frame path into holonomic velocity commands

Build and Run

From the repository root:

make build-navigation
make start-navigation

Start the complete stack with RViz:

make debug-navigation

The complete navigation entry point starts the field coordinate adapter, path planner, and path follower. The debug entry point additionally starts RViz and shuts down the complete launch when RViz exits.

The path-planning subset remains available independently:

make build-path-planning
make start-path-planning
make debug-path-planning

Direct launch:

source ../../install/setup.bash
ros2 launch humanoid_path_follower navigation.launch.py
ros2 launch humanoid_path_follower navigation_debug.launch.py

Run only the follower when its input topics are already available:

ros2 launch humanoid_path_follower path_follower.launch.py

Test

make test-navigation

Configuration

• Adapter configuration
• Planner configuration
• Follower configuration

Documentation

• Architecture
• Coordinate system