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mrpt_reactivenav2d package from mrpt_navigation repo

mrpt_map_server mrpt_msgs_bridge mrpt_nav_interfaces mrpt_navigation mrpt_pf_localization mrpt_pointcloud_pipeline mrpt_rawlog mrpt_reactivenav2d mrpt_tps_astar_planner mrpt_tutorials

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Package Summary

Tags No category tags.
Version 2.2.4
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mrpt-ros-pkg/mrpt_navigation.git
VCS Type git
VCS Version ros2
Last Updated 2025-07-24
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space)

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco
  • Shravan S Rai

Authors

  • Jose-Luis Blanco-Claraco
mrpt_reactivenav2d/README.md

mrpt_reactivenav2d

Overview

This package provides a ROS 2 node for reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space).

How to cite

Main papers IROS06 ([PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2006tps_IROS.pdf)) ```bibtex @INPROCEEDINGS{, author = {Blanco, Jos{\'{e}}-Luis and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier and Fern{\'{a}}ndez-Madrigal, Juan-Antonio}, month = oct, title = {The Trajectory Parameter Space (TP-Space): A New Space Representation for Non-Holonomic Mobile Robot Reactive Navigation}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS'06)}, year = {2006}, location = {Beijing (China)} } ```
Other related papers [IEEE RAM 2023](https://ieeexplore.ieee.org/abstract/document/10355540/) ```bibtex @ARTICLE{xiao2023barn, author = {Xiao, Xuesu and Xu, Zifan and Warnell, Garrett and Stone, Peter and Gebelli Guinjoan, Ferran and T Rodrigues, Romulo and Bruyninckx, Herman and Mandala, Hanjaya and Christmann, Guilherme and Blanco, Jos{\'{e}}-Luis and Somashekara Rai, Shravan}, month = {{aug}}, title = {Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023}, journal = {IEEE Robotics & Automation Magazine}, volume = {30}, number = {4}, year = {2023}, url = {https://ieeexplore.ieee.org/abstract/document/10355540/}, doi = {10.1109/MRA.2023.3322920}, pages = {91--97} } ``` IJARS 2015 [PDF](https://ingmec.ual.es/~jlblanco/papers/blanco2015tps_rrt.pdf) ```bibtex @ARTICLE{bellone2015tprrt, author = {Blanco, Jos{\'{e}}-Luis and Bellone, Mauro and Gim{\'{e}}nez-Fern{\'{a}}ndez, Antonio}, month = {{{may}}}, title = {TP-Space RRT: Kinematic path planning of non-holonomic any-shape vehicles}, journal = {International Journal of Advanced Robotic Systems}, volume = {12}, number = {55}, year = {2015}, url = {http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/tp-space-rrt-ndash-kinematic-path-planning-of-non-holonomic-any-shape-vehicles}, doi = {10.5772/60463} } ```

Configuration

The main parameters of our approach are:

  • Robot shape: The “2D foot-print” of the robot.
  • PTGs: One or more families of trajectories, used to look ahead and plan what is the most interesting next motor command.
  • Motion decision: These parameters can be tuned to modify the heuristics that control what motor actions are selected.

Demos

ros2 launch mrpt_tutorials reactive_nav_demo_with_mvsim.launch.py

to start:

  • mrpt_reactivenav2d for the autonomous reactive navigation (this package),
  • mrpt_pointcloud_pipeline for generating input obstacles for the navigator from lidar data,
  • mvsim to simulate a live robot that can be controlled by the navigator.

Node: mrpt_reactivenav2d_node

Working rationale

The C++ ROS 2 node comprises XXX

ROS 2 parameters

XXX

Subscribed topics

  • xxx

Published topics

  • xxx

  • reactivenav_events (std_msgs/String): One message with a string keyword will be published for each important navigation event.

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package mrpt_reactivenav2d

2.2.4 (2025-07-24)

2.2.3 (2025-07-22)

  • FIX: Build against recent tf2 versions
  • Contributors: Jose Luis Blanco-Claraco

2.2.2 (2025-05-28)

  • FIX: remove usage of obsolete ament_target_dependencies()
  • remove special code to build against older mrpt_msgs
  • Contributors: Jose Luis Blanco-Claraco

2.2.1 (2024-10-12)

  • Update for MRPT 2.14.3 (new RNAV weight for target heading)
  • Support speed_ratio property for Waypoints
  • Improve astar navigation demo
  • Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

  • Update URL entries in package.xml to each package proper documentation
  • ament linters: manually enable just cmake and xml linters
  • reformat clang-format with 100 column width
  • Contributors: Jose Luis Blanco-Claraco

2.1.1 (2024-09-02)

  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
  • Fix duplicated deps
  • update dependencies
  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco
  • Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
  • Fix duplicated deps
  • update dependencies
  • Depend on new mrpt_lib packages (deprecate mrpt2)
  • Contributors: Jose Luis Blanco-Claraco

2.1.0 (2024-08-08)

  • Hide example output into <details>
  • Merge branch 'ros2' into wip/port-tps-astar
  • rnav node now detects live changes in the parameter 'pure_pursuit_mode'
  • Merge branch 'ros2' into wip/port-tps-astar
  • Contributors: Jose Luis Blanco-Claraco

2.0.1 (2024-05-28)

2.0.0 (2024-05-28)

  • rnav: add new pure_pursuit mode
  • Implement two action servers: NavigateGoal and NavigateWaypoints
  • Comply with ROS2 REP 2003
  • expose waypoint sequence launch argument
  • use namespaces for launch files
  • rnav node: publish selected PTG as marker
  • FIX: waypoints should also observe frame_id
  • Fix obsolete tf2_geometry_msgs.h header
  • Unify and clarify license headers in all files
  • Merge pull request #134 from SRai22/ros2 Merge from SRai22 fork
  • Port to ROS 2
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera López, SRai22

1.0.3 (2022-06-25)

1.0.2 (2022-06-25)

1.0.1 (2022-06-24)

  • Correct demos
  • Fix all build errors
  • Removed now obsolete tf_prefix
  • Ported to tf2 and mrpt::ros1bridge
  • Contributors: Jose Luis Blanco-Claraco

1.0.0 (2022-04-30)

  • Update URLs to https
  • Update build dep to mrpt2
  • Contributors: Jose Luis Blanco Claraco

0.1.26 (2019-10-05)

0.1.25 (2019-10-04)

  • fix nav to target clicking in RVIZ
  • Contributors: Jose Luis Blanco Claraco

0.1.24 (2019-04-12)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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