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The goal when creating the nav2d stack was to have a simpler, easier-to-access solution to basic robot navigation tasks. So I would indeed recommend it to beginners as well. It depends of course on the type of robot and the task you need to solve as well. Nav2d assumes a more or less circular robot that can turn in place (e.g. TurtleBot). It has no advanced trajectory planning, instead it combines a simple trajectory-following with obstacle avoidance. The used map-type is a simple 2D occupancy grid.