- load, serve, and store maps (Map Server)
- localize the robot on the map (AMCL)
- plan a path from A to B around obstacles (Nav2 Planner)
- control the robot as it follows the path (Nav2 Controller)
- convert sensor data into a costmap representation of the world (Nav2 Costmap 2D)
- build complicated robot behaviors using behavior trees (Nav2 Behavior Trees and BT Navigator)
- Compute recovery behaviors in case of failure (Nav2 Recoveries)
- Follow sequential waypoints (Nav2 Waypoint Follower)
- Manage the lifecycle and watchdog for the servers (Nav2 Lifecycle Manager)
- Plugins to enable your own custom algorithms and behaviors (Nav2 Core)