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-# navigation2
+# Navigation2
 
-ROS2 navigation
+ROS2 Navigation
+
+# Contributing
+Currently we are in the design phase, and are accepting input and requirements. To contribute, see the [design README.md](design/README.md)
diff --git a/design/README.md b/design/README.md
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+# ROS2 Navigation design documentation
+This is where the ROS2 Navigation design documentation is being collected and vetted
+
+# Use Cases
+These are for defining how the user interacts with the system 
+
+See the [use case template](use_cases/_template_use_case.md)
+
+# Requirements
+These are for defining the technical requirements
+
+See the [requirement template](requirements/_template_requirement.md)
+
+# Contributing
+To submit a request for a use case or requirement, copy and modify the template and submit a pull request for review
diff --git a/design/requirements/_template_requirement.md b/design/requirements/_template_requirement.md
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+# Requirement Title
+The \<navigation system> should be able to \<shall> \<do something>
+
+## More details
+- Why is this needed?
+- What is the expected user interaction? 
+- What use case does this map to?
+- Are there any non-functional requirements (build system, tools, performance, etc)
+
+
+# Example:
+
+# Warehouse Navigation
+The navigation system should include a modular collision avoidance algorithm that can be replaced with a new algorithm at run time
+
+## More details
+ - I want to be able to write or use my own collision avoidance algorithm without having to re-compile the entire stack from source
+ - Ideally I can just change out a node using a custom launch file
+ - This maps to the "Collision Avoidance" use case
diff --git a/design/use_cases/_template_use_case.md b/design/use_cases/_template_use_case.md
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+# Use Case Title
+As a \<Developer, Researcher, Technician, etc.> I want the robot to \<action> so that \<I, the robot, etc.> can \<do something important>
+
+## More details
+- Why is this needed?
+- What is the expected user interaction? 
+- Are there any non-functional requirements? (build system, tools, performance, etc)
+
+# Example:
+
+# Warehouse Navigation
+As a warehouse robot operator, I want the robot to navigate without colliding into people or objects so that it doesn't hurt anyone or damage anything
+
+## More details
+ - I want this so that I know the robot won't damage itself, damage property or hurt anyone
+ - I shouldn't have to interact with the robot to prevent it from crashing into people or things