Navigation is the most essential and complex capability performed by a mobile robot. In this paper, we present preliminary results from our new navigation framework, EasyNav, focusing on one of its key use cases developed to assess its feasibility: the Simple Stack. This stack is composed of a set of plugins that provide environment representation, localization, path planning, and control, each implemented using well-established algorithms. Our goal is to demonstrate the viability of the design choices made in the development of EasyNav. At the same time, the Simple Stack itself constitutes a valuable contribution, offering a clear and straightforward example of the core components required for robust and reliable navigation. The implementation is open-source, developed in ROS 2, and has been validated both in simulation and on real differential-drive robots.
Rico et al. (Wed,) studied this question.
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