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The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligentmachines sector -- on space missions, large agriculture equipment, multi-robotfleets, and more. Its success derives from its focused design and improvedcapabilities targeting product-grade and modern robotic systems. Following ROS2's example, the mobile robotics ecosystem has been fully redesigned based onthe transformed needs of modern robots and is experiencing active developmentnot seen since its inception.  This paper comes from the desks of the key ROS Navigation maintainers toreview and analyze the state of the art of robotics navigation in ROS 2. Thisincludes new systems without parallel in ROS 1 or other similar mobile roboticsframeworks. We discuss current research products and historically robustmethods that provide differing behaviors and support for most every robot type.This survey consists of overviews, comparisons, and expert insights organizedby the fundamental problems in the field. Some of these implementations haveyet to be described in literature and many have not been benchmarked relativeto others. We end by providing a glimpse into the future of the ROS 2 mobilerobotics ecosystem.

From the Desks of ROS Maintainers: A Survey of Modern & Capable Mobile Robotics Algorithms in the Robot Operating System 2