easynav_core

Core base classes for all Easy Navigation method plugins (controllers, planners, localizers, map managers).
This package provides a common lifecycle, timing utilities, and (for some bases) shared behaviors like collision checking.

Base Classes Overview

Each plugin README in easynav_plugins can refer to these sections instead of duplicating the shared behavior.

easynav::MethodBase

Header: easynav_core/MethodBase.hpp
Role: Common lifecycle and timing utilities for all method plugins.

MethodBase Responsibilities

• Store a pointer to the parent rclcpp_lifecycle::LifecycleNode.
• Keep the plugin name and TF prefix.
• Provide initialize() + virtual on_initialize() hook for derived classes.
• Provide update-rate helpers for real-time and non-real-time loops.

Parameters

All parameters are declared under each derived plugin namespace; MethodBase just expects them to exist. Typical parameters (declared by derived classes) include:

Note: The exact parameter names and defaults are defined in each derived plugin; MethodBase only consumes the configured frequencies.

MethodBase Public API

NavState / Topics

MethodBase itself does not read or write NavState and does not create publishers or subscriptions. All such interfaces are defined in derived base classes (see below) and their plugins.

easynav::ControllerMethodBase

Header: easynav_core/ControllerMethodBase.hpp
Role: Base class for controllers that generate velocity commands and optionally perform collision checking.

Typical derived plugins: easynav_simple_controller, easynav_mppi_controller, easynav_serest_controller, easynav_vff_controller.

Controller Responsibilities

• Extend MethodBase with a real-time control loop (update_rt).
• Provide a standard collision-checking utility based on point clouds.
• Optionally publish visualization markers for the collision zone.

Parameters (common collision checker)

Derived controllers usually expose these parameters (names may vary slightly per plugin):

(Exact declaration and defaults live in each controller plugin; this section documents the shared semantics.)

Interfaces (Topics)

The actual topic name is built inside the controller plugin using get_node() and get_plugin_name(), but all controllers sharing ControllerMethodBase use a similar pattern.

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Changelog for package easynav_core

0.3.0 (2025-12-01)

• Add README.md with base classes description
• Set collision checker disabled by default
• Cleanup unused headers
• Reshape execution and sensor handling
• Add warning when exceeding the target cycle time
• Finished collision checker
• Reset method execution time when triggered
• Contributors: Francisco Martín Rico, Francisco Miguel Moreno

0.1.4 (2025-10-16)

• Merge kilted version bump into rolling
• Merge kilted into rolling. Update version to 0.1.3
• Contributors: Francisco Miguel Moreno

0.1.3 (2025-10-12)

0.1.2 (2025-09-26)

• Trigger planner if new goals appear
• Multi-robot support by namespacing TFs
• Use tf_prefix instead of tf_namespace
• [WIP] Blackboard for NavSate
• Redesing with NavState
• Yaets traces
• Fix CMake targets. Update package dependencies
• Install bins in correct place
• Updated Doxygen description headers
• [WIP] System Execution
• RTTFBuffer. Dictionary maps.
• [WIP] Changes to load plugins
• Changes to load plugins
• NavState refs in update
• Base interfaces for module algorithms
• Works on Map Manager Types
• Add tests for easynav_core base classes
• Group common method functionality
• Add dummy plugins for core modules
• Install runtime binary targets under lib
• Add base abstract classes for the algorithm plugins
• Refactoring to nodes
• Minor typo in license
• Add Result Class
• Reading params to core
• Separation ROS and non-ROS and skeletons
• Initial skeleton
• Contributors: Francisco Martín Rico, Francisco Miguel Moreno Olivo, Juan Carlos Manzanares Serrano