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mrpt_tps_astar_planner 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

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
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS Path Planner with A* in TP-Space Engine

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco
  • Shravan S Rai

Authors

  • Shravan_S_Rai
  • Jose-Luis Blanco-Claraco
mrpt_tps_astar_planner/README.md

mrpt_tps_astar_planner

Overview

This package provides a ROS 2 node that uses the PTG-based A* planner in mrpt_path_planning to publish waypoint sequences moving a non-holonomic robot from A to B, taking into account its real shape, orientation, and kinematic constraints.

How to cite

TBD!

Configuration

Write me!

Demos

Write me!

Node: mrpt_tps_astar_planner_node

Working rationale

Uses A* over a SE(2) lattice and PTGs to sample collision-free paths. The implementation is an anytime algorithm.

ROS 2 parameters

  • topic_wp_seq_pub (Default: /waypoints) Desired name of the topic in which to publish the calculated paths.

  • topic_goal_sub: The name of the topic to subscribe for goal poses (geometry_msgs/PoseStamped).

  • show_gui: Shows its own MRPT GUI with the planned paths.

  • topic_gridmap_sub: One or more (comma separated) topic names to subscribe for occupancy grid maps.

  • topic_obstacle_points_sub: One or more (comma separated) topic names to subscribe for obstacle points.

Subscribed topics

  • xxx

Published topics

  • <topic_wp_seq_pub> (Default: /waypoints) (mrpt_msgs::msg::WaypointSequence): Calculated trajectory, in mrpt_msgs format with complete details for each waypoints.
  • <topic_wp_seq_pub>_path (Default: /waypoints_path) (nav_msgs::msg::Path): Calculated trajectory, as nav_msgs::Path. Mostly useful for visualization only.

Services

Write me!

Template ROS 2 launch files

This package provides launch/tps_astar_planner.launch.py:

ros2 launch tps_astar_planner tps_astar_planner.launch.py

which can be used in user projects to launch the planner, by setting these launch arguments:

  • XXX: XXX
CHANGELOG

Changelog for package mrpt_tps_astar_planner_node

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()
  • Merge pull request #156 from r-aguilera/ros2 mrpt_tps_astar_planner_node: improves on obstacle points update
  • astar_planner: limit excessive obstacle points ... logging
  • astar_planner: prevent node from shutting down ... on missing tf info
  • astar planner node: it will always return the best found path, even if success==false
  • Merge pull request #155 from r-aguilera/ros2 Fix MakePlanFromTo srv using robot pose as start
  • Fix MakePlanFromTo srv using robot pose as start
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera

2.2.1 (2024-10-12)

  • Update demo for astar
  • Publish costmaps to ROS for visualization too apart of the custom MRPT GUI
  • Improve astar navigation demo
  • astar planner: add refine() step and parameter to optionally disable it
  • astar node: add two more launch args: problem_world_bbox_margin and problem_world_bbox_ignore_obstacles
  • astar params: add more comments and tune for speed
  • PTGs .ini: Add docs on how to enable backward motions
  • Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

  • fix missing linters; tune tutorial params
  • Update URL entries in package.xml to each package proper documentation
  • ament linters: manually enable just cmake and xml linters
  • Add roslog INFO traces to measure time spent initializing PTGs
  • 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)

  • Merge pull request #147 from r-aguilera/ros2 mrpt_tps_astar_planner_node tf data availability
  • added max duration to wait for tf data
  • Merge pull request #146 from r-aguilera/ros2 parameterized astar plan waypoints fields
  • Merge pull request #145 from mrpt-ros-pkg/ros2_astar add WaypointSequence missing header
  • Implement two services for making navigation plans; code clean up; delete "replan" topic
  • FIX: transform point cloud observations
  • add frame_id params
  • reset planner obstacles between path plans
  • Add param to create subscribers with map-like QoS
  • Enable multiple obstacle sources (grids and points)
  • delete old ros1 files
  • Merge pull request #144 from mrpt-ros-pkg/wip/port-tps-astar Port TPS A* planner to ROS2
  • Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera, SRai22

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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