easynav_vff_controller

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
kilted

Package Summary

Version	0.3.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	kilted
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	pluginlib
	easynav_common
	nav_msgs
	easynav_core
	pcl_ros
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange