Navigation is being assembled step by step: sensor validation, robot frames, lidar integration, mapping, and local planning all need to agree before indoor autonomy can be trusted.
ROS 2 provides the foundation for bringing those pieces together while keeping the system understandable and testable.
Full navigation, mapping, autonomous pickup, and object-to-bin cleanup are not complete yet. The near-term focus is a supervised path toward a reliable end-to-end cleanup loop.