Local Installation

Dependencies

To use Nav2, you'll first need to build or install ROS 2 and related development tools, including: colcon, rosdep and vcstool. There are a few ways to install and build them:

ROS 2 Released Distribution BinariesROS 2 from Source

For more information on building or installing ROS 2 distros, see the official documentation:

Once your environment is ready, source the ROS 2 setup file:

source /opt/ros/<distro>/setup.bash

For more information on building ROS 2 from source, see the official documentation:

ROS 2 Building from source

Once your environment is ready, source the ROS 2 setup file:

source <ros_ws>/install/setup.bash

Nav2 Project

Warning

The branch naming schema for Nav2 is organized by ROS distro, while the default branch for Rolling is main.

Similarly, you can install the Nav2 project in different ways:

Nav2 Released Distribution BinariesNav2 from Source

Warning

Nav2 does not currently release binaries on rolling, so it must be build from source.

Nav2 and its dependencies are released as binaries. You may install it via the following to get the latest stable released version:

sudo apt update
sudo apt install \
    ros-$ROS_DISTRO-navigation2 \
    ros-$ROS_DISTRO-nav2-bringup \
    ros-$ROS_DISTRO-nav2-minimal-tb\*

Hint

For more examples on building Nav2 from released distribution binaries, checkout distro.Dockerfile.

Once your environment is setup, clone the Nav2 repo, install all dependencies, and build the workspace:

NAV_DISTRO=${ROS_DISTRO/rolling/main}
mkdir -p ~/nav2_ws/src && cd ~/nav2_ws
git clone https://github.com/ros-navigation/navigation2.git --branch $NAV_DISTRO ./src/navigation2
git clone https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git --branch $NAV_DISTRO ./src/nav2_minimal_turtlebot_simulation
rosdep install -r -y \
--from-paths ./src \
--ignore-src
colcon build \
--symlink-install

Note for Rolling

Since rolling development source tracks the latest upstream ROS 2 branches, builds may occasionally fail due to ABI/API breaking changes being actively developed in ROS 2 core packages. If you encounter build failures, consider using the Released Distribution Binaries approach instead or submit the patch to Nav2.

You can then source Nav2 setup file to get ready for demonstrations!

source ~/nav2_ws/install/setup.bash

It is safe to ignore the rosdep error of from the missing slam_toolbox key.

Hint

If you are using rmw_zenoh_cpp and want to run tests without a Zenoh router, you can enable isolated tests by building with:

colcon build --symlink-install \
--cmake-args -DUSE_ISOLATED_TESTS=ON

Hint

For more examples on building Nav2 from rolling development source, checkout distro.Dockerfile.