text_nav_bridge

text_nav_bridge converts free-form text navigation commands into Nav2 goals.

This package is the navigation-side bridge in the text navigation pipeline:

• Loads text landmarks produced by TextMap
• Matches a user text query against landmark text entries
• Chooses a reachable goal near the matched landmark from the current Nav2 map
• Sends that goal to Nav2 through nav2_msgs/action/NavigateToPose

This README only summarizes the package role and ROS interface. For dependencies, build instructions, and end-to-end launch examples, see the TextMap_Examples example repository.

Upstream Inputs

This package expects the following inputs from the upstream text navigation pipeline:

• Landmark file from TextMap: landmarks.yaml
• A Nav2-compatible map or localization source, such as map.pgm, map.yaml or rtabmap.db

For the full pipeline, setup details, and runnable examples, see the TextMap_Examples example repository.

Interface

Interface with Nav2

The node does not perform path planning itself. It selects a reachable goal pose near the landmark and hands the request to Nav2.

Actions

Name	Type	Description
navigate_to_pose	nav2_msgs/action/NavigateToPose	Sends the selected goal pose to Nav2 for navigation execution

Subscribed Topics

Topic	Type	Description
/text_nav/command	std_msgs/msg/String	Free-form navigation command such as "restroom"
/map	nav_msgs/msg/OccupancyGrid	Occupancy map used to find a reachable goal near the matched landmark

Published Topics

Topic	Type	Description
/text_nav/status	std_msgs/msg/String	Navigation and error status
/text_nav/goal_marker	visualization_msgs/msg/Marker	Selected navigation goal marker for RViz
/textmap/markers	visualization_msgs/msg/MarkerArray	Republished landmark markers loaded from the landmark YAML

License

Apache License 2.0