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

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

Navigation in simulated warehouse

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.

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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)

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