ROS Index
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mrpt_path_planning_core at Robotics Stack Exchange
|
|
mrpt_path_planning_core package from mrpt_path_planning repomrpt_path_planning mrpt_path_planning_apps mrpt_path_planning_core |
ROS Distro
|
Package Summary
| Version | 2.0.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/MRPT/mrpt_path_planning.git |
| VCS Type | git |
| VCS Version | develop |
| Last Updated | 2026-10-02 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Path planning and navigation algorithms for robots/vehicles moving on planar environments. This library builds upon mrpt-nav and the theory behind PTGs to generate libraries of "motion primitives" for vehicles with arbitrary shape and realistic kinematics and dynamics. Headless: no GUI/display dependency. See mrpt_path_planning_apps for the CLI/GUI applications.
Additional Links
Maintainers
- Jose-Luis Blanco-Claraco
Authors
- Jose-Luis Blanco-Claraco
README
No README found.
See repository README.
CHANGELOG
Changelog for package mrpt_path_planning_core
2.0.0 (2026-10-01)
- add missing changelogs
- Merge pull request #44 from MRPT/feat/point-goal-shot
- TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
- Point-goal shots: other final headings and no shots where the robot cannot fit
- Reeds-Shepp shot to position goals
- Merge pull request #43 from MRPT/docs/readme-agents-md
- README: animated header images of the demo plans
- Refined path outputs show the motion actually executed
- viz_svg: optional animated robot footprint along the path
- Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
- Mark updateTPObstacles() override with MRPT >= 3.3.2
- Merge pull request #40 from MRPT/feat/fast-collision-query
- Interpolate Reeds-Shepp shot edges and keep exact edges when refining
- Enable the Reeds-Shepp shot by default
- Certified Reeds-Shepp shot to full-pose goals (opt-in)
- Faster batched TP-obstacle query and open set in TPS_Astar
- Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
- reeds_shepp: portable pi constant; document the radius precondition
- Add an opt-in Reeds-Shepp heuristic for full-pose goals
- Merge pull request #38 from MRPT/ci/clang-format
- Add clang-format CI check and apply clang-format-14 to all sources
- Merge pull request #37 from MRPT/feat/certified-collision-grid
- Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
- Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
- Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
- Merge pull request #36 from MRPT/feat/mrpt3
- Address PR review comments and finish the getPathStepForDist port
- Port to MRPT 3.x: re-port after the core/apps/viz repo split
- TrajectoryFollower: latch ReachedGoal until a new trajectory is set
- TrajectoryFollower: parameterize the control-pose filter at the vehicle
- TrajectoryFollower: noise-robustness and accuracy hardening
- More info in debug traces
- add debug-level traces
- more stable look ahead, cap max omega
- TrajectoryFollower: evaluate off-path fault on true localized pose
- TrajectoryFollower: run short-term tracking on wheel odometry via a slewed anchor
- TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
- TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
- TrajectoryFollower: fix backward-propagated gear misclassifying a
- TrajectoryFollower: support genuine mid-path gear reversals
- follower: clamp curvature to min_turn_radius, decelerate before cusps too
- follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
- Fix: viz.h must stay a properly exported public library, not a private CLI header
- Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
- Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco
1.0.1 (2026-07-04)
- feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
- feat(cli): add --no-gui and SVG motion-tree decimation (#31)
- fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
- Contributors: Jose Luis Blanco-Claraco
1.0.0 (2026-06-16)
- feat(TPS_Astar): weighted A* via
heuristic_epsilonparam (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths - feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
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Package Dependencies
| Deps | Name |
|---|---|
| mrpt_maps | |
| mrpt_nav | |
| mrpt_graphs | |
| mrpt_containers |
System Dependencies
| Name |
|---|
| cmake |
| doxygen |
| libgtest-dev |
Dependant Packages
| Name | Deps |
|---|---|
| mrpt_path_planning | |
| mrpt_path_planning_apps |
Launch files
No launch files found
Messages
No message files found.
Services
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Plugins
No plugins found.