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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 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

  • Michael Jeronimo

Authors

No additional authors.

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

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Messages

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Services

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Plugins

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