EasyNavigation

EasyNavigation (EasyNav) is an open-source navigation system for ROS 2, designed to be representation-agnostic — supporting a wide variety of environment models (2D costmaps, elevation maps, surface-based 3D maps, etc.). It comprises a core (plugin management and runtime execution) and an ecosystem of repositories: easynav_plugins (map managers, planners, localizers, controllers), NavMap (surface-based 3D map representation with geometric and semantic layers), a GridMaps-based stack, and PlayGrounds — complete Gazebo simulations with ready-to-run configurations for the Kobuki (indoor reference), Summit XL (outdoor reference), TIAGo and omnidirectional robots. The project is developed by the Intelligent Robotics Lab at Universidad Rey Juan Carlos (URJC), led by Francisco Martín Rico, and funded by the European Union (Horizon Europe programme, CoreSense project, GA No. 101070254) and Spanish MICIU/AEI and ERDF grants (PERMAP, PLANNAV / AURORAS). The code is released under the Apache-2.0 license.