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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 MAINTAINED
Released RELEASED

Package Description

TODO

Additional Links

No additional links.

Maintainers

  • Michael Jeronimo

Authors

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Simple Navigator

The Simple Navigator module implements a nav2_tasks::NavigateToPose task server. As such, its responsibility is to navigate the robot to the specified pose.

Overview

The Simple Navigator implements NavigateToPose using two sub-tasks, ComputePathToPose and FollowPath, which are, in turn, task servers that implement the nav2_tasks::ComputePathToPose and nav2_tasks::FollowPath interfaces. It is conceptually similar to the MoveBase in the ROS 1 Navigation stack in that it coordinates the global planner (ComputePathToPose) and the local planner (FollowPath).

The Simple Navigator sits in the task hierarchy, as follows:

The Simple Navigator module is meant to show how one can utilize (sub-)task clients in a direct way to implement a task. The BtNavigator module, an alternative implementation of NavigateToPose, is a drop-in replacement for the Simple Navigator and uses behavior trees to implement more complex behavior, including recovery.

Implementation

In its execute method, which directs the task server to begin its operation, the Simple Navigator invokes ComputePathToPose and FollowPath in sequence, managing the task clients for each directly.

CHANGELOG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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Messages

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Services

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Plugins

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Recent questions tagged nav2_simple_navigator at answers.ros.org

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