README.md

Nav2

• 목표 : Nav2 아키텍쳐 이해

• 그림 읽는 방법
  • 그림 해석해보기

• navigation2 git repo

  • 각 부분 살펴보기

• 개발문서

  • 개요 문서

• Navigation Concept 정리

구성

1. BT Navigator Server
2. Servers : Controller, Planner, Behavior, Smoother, Route
3. Plugins
4. Lifecycle Manager

1. BT Navigator Server

2. Servers

3. Plugins

• Nav2 Plugins 목록

4. Lifecycle Manager

State	Description	Transitions
Unconfigured	The node is not configured.	configure
Inactive	The node is configured but not active.	activate, cleanup
Active	The node is active.	deactivate, cleanup
Finalized	The node is inactive and cannot be reactivated.	cleanup