Nav2 Path Planning for Bipedal Humanoids
Navigation2 (Nav2) is ROS2's standard navigation framework that provides path planning, obstacle avoidance, and goal-based navigation for mobile robots. For humanoid robots, Nav2 requires specialized configurations and extensions to accommodate the unique constraints of bipedal locomotion, including footstep planning, center-of-mass stability, and gait-specific movement patterns. Unlike wheeled robots that can move continuously in any direction, humanoid robots must plan discrete foot placements while maintaining balance throughout the navigation process.