Revision history [back]

Nav2 is completely abstracted from hardware. Your sensor (whatever it may be - visual, lidar, etc.) will provide information that will populate a costmap, which nav2 porvides algorithms to navigate. It is up to you how you provide this costmap (in other words obstacle) data. It would be a good idea to read through the documentation and tutorials on nav2. If you're working with a depth camera, there are ros2 packages that simulate a lidar from a row of pixels, or differentiate ground/obstacle for clearing and marking on cost map. Again, completely up to you how you provide obstacle information to nav2.