Package Summary

Tags No category tags.
Version 1.1.13
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/navigation2.git
VCS Type git
VCS Version humble
Last Updated 2024-03-28
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO

Additional Links

No additional links.

Maintainers

  • Steve Macenski
  • Carlos Orduno

Authors

No additional authors.

Navfn Planner

The NavfnPlanner is a global planner plugin for the Nav2 Planner server. It implements the Navigation Function planner with either A* or Dij. expansions. It is largely equivalent to its counterpart in ROS 1 Navigation. The Navfn planner assumes a circular robot (or a robot that can be approximated as circular for the purposes of global path planning) and operates on a weighted costmap.

The global_planner package from ROS (1) is a refactor on NavFn to make it more easily understandable, but it lacks in run-time performance and introduces suboptimal behaviors. As NavFn has been extremely stable for about 10 years at the time of porting, the maintainers felt no compelling reason to port over another, largely equivalent (but poorer functioning) planner.

See its Configuration Guide Page for additional parameter descriptions.

CHANGELOG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged nav2_navfn_planner at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.2.6
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/navigation2.git
VCS Type git
VCS Version iron
Last Updated 2024-03-01
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO

Additional Links

No additional links.

Maintainers

  • Steve Macenski
  • Carlos Orduno

Authors

No additional authors.

Navfn Planner

The NavfnPlanner is a global planner plugin for the Nav2 Planner server. It implements the Navigation Function planner with either A* or Dij. expansions. It is largely equivalent to its counterpart in ROS 1 Navigation. The Navfn planner assumes a circular robot (or a robot that can be approximated as circular for the purposes of global path planning) and operates on a weighted costmap.

The global_planner package from ROS (1) is a refactor on NavFn to make it more easily understandable, but it lacks in run-time performance and introduces suboptimal behaviors. As NavFn has been extremely stable for about 10 years at the time of porting, the maintainers felt no compelling reason to port over another, largely equivalent (but poorer functioning) planner.

See its Configuration Guide Page for additional parameter descriptions.

CHANGELOG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged nav2_navfn_planner at Robotics Stack Exchange

No version for distro rolling. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.7
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/navigation2.git
VCS Type git
VCS Version crystal-devel
Last Updated 2019-03-13
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO

Additional Links

No additional links.

Maintainers

  • Steve Macenski
  • Carlos Orduno

Authors

No additional authors.

Navfn Planner

The NavfnPlanner is a planning module that implements the nav2_tasks::ComputePathToPose interface.

A planning module implementing the nav2_tasks::ComputePathToPose interface is responsible for generating a feasible path given start and end robot poses. It provides the equivalent functionality to a GlobalPlanner in ROS1 MoveBase.

Status

Currently, NavfnPlanner's core algorithm is a direct port from the ROS1 MoveBase Navfn planner. The Navfn planning algorithm is based on the Global Dynamic Window Approach.

Characteristics

In Dijkstra mode (use_astar = false) Dijkstra's search algorithm is guaranteed to find the shortest path under any condition. In A* mode (use_astar = true) A*'s search algorithm is not guaranteed to find the shortest path, however it uses a heuristic to expand the potential field towards the goal.

The Navfn planner assumes a circular robot and operates on a costmap.

Task Interface

The Navigation System is composed of three tasks: NavigateToPose, ComputePathToPose and FollowPathToPose.

The DijkstraPlanner implements the Task Server interface for ComputePathToPose, specifically derives from nav2_tasks::ComputePathToPoseTaskServer. The client to DijkstraPlanner is 'NavigateToPoseTask', which periodically sends requests to the path planner.

alt text

Next Steps

  • Refactor Navfn. Currently difficult to modify/extend. Issue #244
  • Implement additional planners based on optimal control, potential field or other graph search algorithms that require transformation of the world model to other representations (topological, tree map, etc.) to confirm sufficient generalization. Issue #225
  • Implement planners for non-holonomic robots. Issue #225
CHANGELOG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nav2_navfn_planner at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.3.5
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/navigation2.git
VCS Type git
VCS Version eloquent-devel
Last Updated 2021-01-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO

Additional Links

No additional links.

Maintainers

  • Steve Macenski
  • Carlos Orduno

Authors

No additional authors.

Navfn Planner

The NavfnPlanner is a plugin for the Nav2 Planner server.

It provides the equivalent functionality to a GlobalPlanner in ROS1 MoveBase.

Status

Currently, NavfnPlanner's core algorithm is a direct port from the ROS1 MoveBase Navfn planner. The Navfn planning algorithm is based on the Global Dynamic Window Approach.

Characteristics

In Dijkstra mode (use_astar = false) Dijkstra's search algorithm is guaranteed to find the shortest path under any condition. In A* mode (use_astar = true) A*'s search algorithm is not guaranteed to find the shortest path, however it uses a heuristic to expand the potential field towards the goal.

The Navfn planner assumes a circular robot and operates on a costmap.

Next Steps

  • Implement additional planners based on optimal control, potential field or other graph search algorithms that require transformation of the world model to other representations (topological, tree map, etc.) to confirm sufficient generalization. Issue #225
  • Implement planners for non-holonomic robots. Issue #225
CHANGELOG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged nav2_navfn_planner at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.2.6
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/navigation2.git
VCS Type git
VCS Version dashing-devel
Last Updated 2020-12-28
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO

Additional Links

No additional links.

Maintainers

  • Steve Macenski
  • Carlos Orduno

Authors

No additional authors.

Navfn Planner

The NavfnPlanner is a planning module that implements the nav2_behavior_tree::ComputePathToPose interface.

A planning module implementing the nav2_behavior_tree::ComputePathToPose interface is responsible for generating a feasible path given start and end robot poses. It provides the equivalent functionality to a GlobalPlanner in ROS1 MoveBase.

Status

Currently, NavfnPlanner's core algorithm is a direct port from the ROS1 MoveBase Navfn planner. The Navfn planning algorithm is based on the Global Dynamic Window Approach.

Characteristics

In Dijkstra mode (use_astar = false) Dijkstra's search algorithm is guaranteed to find the shortest path under any condition. In A* mode (use_astar = true) A*'s search algorithm is not guaranteed to find the shortest path, however it uses a heuristic to expand the potential field towards the goal.

The Navfn planner assumes a circular robot and operates on a costmap.

Task Interface

The Navigation System is composed of three tasks: NavigateToPose, ComputePathToPose and FollowPathToPose.

The DijkstraPlanner implements the Task Server interface for ComputePathToPose, specifically derives from nav2_behavior_tree::ComputePathToPoseTaskServer. The client to DijkstraPlanner is 'NavigateToPoseTask', which periodically sends requests to the path planner.

alt text

Next Steps

  • Refactor Navfn. Currently difficult to modify/extend. Issue #244
  • Implement additional planners based on optimal control, potential field or other graph search algorithms that require transformation of the world model to other representations (topological, tree map, etc.) to confirm sufficient generalization. Issue #225
  • Implement planners for non-holonomic robots. Issue #225
CHANGELOG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nav2_navfn_planner at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.0.12
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/navigation2.git
VCS Type git
VCS Version galactic
Last Updated 2022-09-15
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO

Additional Links

No additional links.

Maintainers

  • Steve Macenski
  • Carlos Orduno

Authors

No additional authors.

Navfn Planner

The NavfnPlanner is a plugin for the Nav2 Planner server.

It provides the equivalent functionality to a GlobalPlanner in ROS1 MoveBase.

Status

Currently, NavfnPlanner's core algorithm is a direct port from the ROS1 MoveBase Navfn planner. The Navfn planning algorithm is based on the Global Dynamic Window Approach.

Characteristics

In Dijkstra mode (use_astar = false) Dijkstra's search algorithm is guaranteed to find the shortest path under any condition. In A* mode (use_astar = true) A*'s search algorithm is not guaranteed to find the shortest path, however it uses a heuristic to expand the potential field towards the goal.

The Navfn planner assumes a circular robot and operates on a costmap.

Next Steps

  • Implement additional planners based on optimal control, potential field or other graph search algorithms that require transformation of the world model to other representations (topological, tree map, etc.) to confirm sufficient generalization. Issue #225
  • Implement planners for non-holonomic robots. Issue #225
CHANGELOG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged nav2_navfn_planner at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.4.7
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/navigation2.git
VCS Type git
VCS Version foxy-devel
Last Updated 2022-08-31
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO

Additional Links

No additional links.

Maintainers

  • Steve Macenski
  • Carlos Orduno

Authors

No additional authors.

Navfn Planner

The NavfnPlanner is a plugin for the Nav2 Planner server.

It provides the equivalent functionality to a GlobalPlanner in ROS1 MoveBase.

Status

Currently, NavfnPlanner's core algorithm is a direct port from the ROS1 MoveBase Navfn planner. The Navfn planning algorithm is based on the Global Dynamic Window Approach.

Characteristics

In Dijkstra mode (use_astar = false) Dijkstra's search algorithm is guaranteed to find the shortest path under any condition. In A* mode (use_astar = true) A*'s search algorithm is not guaranteed to find the shortest path, however it uses a heuristic to expand the potential field towards the goal.

The Navfn planner assumes a circular robot and operates on a costmap.

Next Steps

  • Implement additional planners based on optimal control, potential field or other graph search algorithms that require transformation of the world model to other representations (topological, tree map, etc.) to confirm sufficient generalization. Issue #225
  • Implement planners for non-holonomic robots. Issue #225
CHANGELOG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged nav2_navfn_planner at Robotics Stack Exchange

No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.