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This project is part of the liveProject series Build Mobile Robots with ROS 2
intermediate Git • XML • YAML • intermediate ROS 2 • intermediate Python • Linux basics (installing and building software, working with command line tools, shell basics, working with multiple terminals) • math translations, rotations, and coordinate systems • linear algebra • probability theory • robotics • robotics sensors • physics (kinematics and dynamics)
skills learned
planners • controllers • global and local costmaps • waypoint following • tuning Nav2 parameters
Mateusz Sadowski
1 week · 6-8 hours per week · INTERMEDIATE

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Look inside

Let your robot drive itself! Your company, RoboPrototypes, is preparing to demo its autonomous beverage delivery robot to investors soon, but the technician who was supposed to drive it has quit. Since there’s no one to take his place, your CEO has tasked you with upgrading the robot with automatic navigation. You’ll set up Nav2 to load your desired parameters, implement navigation planners and controllers, and optimize navigation by tuning costmap parameters. Once you send your waypoint goals to Nav2 telling your robot where to go, it’ll be ready to quench thirsts at a food court near you.

This project is designed for learning purposes and is not a complete, production-ready application or solution.

book resources

When you start your liveProject, you get full access to the following books for 90 days.

project author

Mat Sadowski

Mat Sadowski is a robotics consultant with eight years of experience in the industry. He has experience working with over thirty worldwide clients on such platforms as mobile robots, unmanned boats, industrial robots, and even lawnmowers. In his spare time, Mat is developing the robotics newsletter Weekly Robotics. You can get up to date on his work by following him on LinkedIn or by following his blog.


This liveProject is for programmers interested in learning core navigation concepts using Nav2. To follow this liveProject you’ll need a computer running Ubuntu 22.04 capable of running Gazebo and be familiar with the following:

  • Git
  • XML
  • YAML
  • ROS 2
  • Python
  • Linux basics (installing and building software, working with command-line tools, shell basics, working with multiple terminals)
  • Math (translations, rotations, coordinate systems, linear algebra)
  • Probability theory
  • Robotics sensors (IMU, LiDAR, Encoders)
  • Physics ( kinematics and dynamics)

you will learn

In this liveProject, you’ll learn:

  • Nav2 Planners
  • Nav2 Controllers
  • Global and Local Costmaps
  • Waypoint Following
  • Tuning Navigation Parameters


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