ros2-nav2

Use ros2-nav2 on Linux to provide mapping, localization, and navigation capabilities for robots. It runs as a snap on x86_64 (amd64) systems with snapd.

The package is intentionally supplied without preset configurations, so its behavior is defined through snap parameters. Set slam-config, localization-config, and navigation-config to configuration files accessible inside the snap environment, such as those under $SNAP_COMMON, or to reachable URLs; other parameters control simulation, map saving, and map paths.

Configuration templates are available at $SNAP_COMMON/configuration_templates and can be modified before assigning them to the relevant parameters. For example, set a SLAM template with snap set ros2-nav2 slam-config="/var/snap/ros2-nav2/common/configuration_templates/slam_params_template.yaml"; reset the templates with ros2-nav2.reset-config-templates, then launch the mapping application with snap start ros2.