# Nav2 Planner

The Nav2 planner is a Task Server in Nav2 that implements the `nav2_behavior_tree::ComputePathToPose` interface.

A planning module implementing the `nav2_behavior_tree::ComputePathToPose` interface is responsible for generating a feasible path given start and end robot poses. It loads a map of potential planner plugins to do the path generation in different user-defined situations.

See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available planner plugins. 

See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-planner-server.html) for additional parameter descriptions and a [tutorial about writing planner plugins](https://navigation.ros.org/plugin_tutorials/docs/writing_new_nav2planner_plugin.html).