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

翻译：机器人操作系统2（ROS 2）正迅速影响智能机器领域——从太空任务、大型农业设备到多机器人编队等。其成功源于面向产品级和现代机器人系统的专注设计与增强能力。效仿ROS 2的范例，移动机器人生态已基于现代机器人转型需求全面重构，并经历着自其诞生以来最为活跃的开发进程。本文由ROS导航核心维护团队撰写，旨在回顾与分析ROS 2中机器人导航的最新技术状态，包括在ROS 1或其他类似移动机器人框架中无对应系统的全新架构。我们探讨了当前研究成果与历史稳健方法，这些方法能为几乎所有机器人类型提供差异化行为与支持。本综述按领域基本问题分类，涵盖概述、比较与专家见解。其中部分实现尚未见诸文献，且多数未与其他方案进行基准对比。最后，我们对ROS 2移动机器人生态的未来发展进行了展望。