easynav_nav2_bridge

A drop-in nav2_msgs/action/NavigateToPose action server backed by EasyNav.

It lets any Nav2-compatible client — RViz's "2D Nav Goal", the Nav2 simple commander, a BehaviorTree NavigateToPose node, ros2 action send_goal, etc. — drive EasyNav without knowing it isn't talking to Nav2's bt_navigator. The bridge forwards the goal to EasyNav through an easynav::GoalManagerClient and translates EasyNav's feedback and result back into the Nav2 action's feedback and result.

Why

EasyNav has its own native goal protocol (easynav_interfaces/msg/NavigationControl, driven through GoalManagerClient/GoalManager). Some tools and integrations, however, only know how to speak Nav2's action interface. This package is the adapter between the two: on one side it is a NavigateToPose action server, on the other a regular EasyNav client, so a client can't tell the two systems apart.

Node

nav2_bridge_main

Runs an easynav::Nav2Bridge node.

ros2 run easynav_nav2_bridge nav2_bridge_main

It advertises the action:

Action	Type
navigate_to_pose	nav2_msgs/action/NavigateToPose

Parameters

Parameter	Type	Default	Description
feedback_rate	double	10.0	Rate (Hz) at which EasyNav's state is polled and feedback is republished.

The goal's behavior_tree field is ignored: EasyNav does not use behavior trees, so there is nothing to select there.

How it works

Nav2Bridge owns a single GoalManagerClient and a single NavigateToPose action server, and drives both from one periodic, single-threaded cycle() callback — the same timer-driven pattern used by other EasyNav clients (see easynav_patrolling_behavior). No extra threads or locks are involved.

• Accepting a goal: every incoming goal is accepted (ACCEPT_AND_EXECUTE) and immediately forwarded to EasyNav via GoalManagerClient::send_goal(). EasyNav — not this bridge — is the one that actually decides whether a goal is achievable.
• Feedback: while EasyNav reports it is navigating, each cycle() tick republishes its latest feedback (current_pose, navigation_time, estimated_time_remaining, mapped to distance_remaining) as NavigateToPose::Feedback.
• Success: when EasyNav reports the goal as finished, the action succeeds with error_code == NONE.
• Failure / internal error: reported as ABORTED, with a non-NONE error_code. EasyNav's textual reason is logged server-side (RCLCPP_ERROR) rather than placed in the result, since not every nav2_msgs build declares an error_msg field (message-only distributions may trim NavigateToPose down to just error_code/NONE).
• Client-requested cancel: a Nav2 cancel request is forwarded to EasyNav (GoalManagerClient::cancel()); once EasyNav confirms the cancellation the action reports CANCELED.
• Preemption by a new goal: sending a new NavigateToPose goal while one is active preempts it, exactly like Nav2's bt_navigator. The previous goal is terminated as ABORTED ("Goal preempted by a new navigation request") and the new one takes over — under the hood this reuses EasyNav's own native preemption (GoalManagerClient transparently re-sends the goal), so there is no cancel/re-request round trip.
• Preemption by someone else: if a different EasyNav client (another GoalManagerClient, or a raw goal_pose publish, e.g. from RViz) takes over navigation while this bridge owns the active goal, the Nav2 goal is terminated as ABORTED rather than CANCELED — from the Nav2 client's point of view it never asked to cancel, so reporting CANCELED would be a protocol violation (and is in fact illegal at the rclcpp_action state machine level unless a cancel was actually requested).

Building

This package depends on easynav_system (and the rest of the EasyNavigation core packages), plus nav2_msgs. In a workspace where those aren't already available, checkout EasyNavigation as a sibling under src/ (and, since some distros don't ship nav2_msgs as a standalone package, the nav2_msgs_only branch) before running colcon build — see .github/thirdparty.repos for the exact sources CI pulls in.

Tests

tests/nav2_bridge_tests.cpp exercises the bridge end-to-end: a real nav2_msgs action client talks to a Nav2Bridge, which in turn talks to a real easynav::GoalManager standing in for the rest of EasyNav. Covered scenarios include normal completion, failure, internal error, client-side cancellation, preemption by a new Nav2 goal, preemption by another EasyNav client, sequential goals, and feedback translation.

colcon test --packages-select easynav_nav2_bridge