planner_cspace package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

planner_3d

planner_3d node provides 2-D/3-DOF seamless global-local path and motion planner.

Subscribed topics

• ~/costmap (new: costmap) [costmap_cspace_msgs::CSpace3D]
• ~/costmap_update (new: costmap_update) [costmap_cspace_msgs::CSpace3DUpdate]
• ~/goal (new: move_base_simple/goal) [geometry_msgs::PoseStamped]
• /tf

Published topics

• ~/path (new: path) [nav_msgs::Path]
• ~/debug [sensor_msgs::PointCloud]

  debug output of planner internal costmap

• ~/remembered [sensor_msgs::PointCloud]

  debug output of obstacles probability estimated by BBF

• ~/path_start [geometry_msgs::PoseStamped]
• ~/path_end [geometry_msgs::PoseStamped]
• ~/status [planner_cspace_msgs::PlannerStatus]

Services

• ~/forget (new: forget_planning_cost) [std_srvs::Empty]

Called services

Parameters

• “goal_tolerance_lin” (double, default: 0.05)
• “goal_tolerance_ang” (double, default: 0.1)
• “goal_tolerance_ang_finish” (double, default: 0.05)
• “unknown_cost” (int, default: 100)
• “hist_cnt_max” (int, default: 20)
• “hist_cnt_thres” (int, default: 19)
• “hist_cost” (int, default: 90)
• “hist_ignore_range” (double, default: 1.0)
• “remember_updates” (bool, default: false)
• “local_range” (double, default: 2.5)
• “longcut_range” (double, default: 0.0)
• “esc_range” (double, default: 0.25)
• “find_best” (bool, default: true)
• “pos_jump” (double, default: 1.0)
• “yaw_jump” (double, default: 1.5)
• “jump_detect_frame” (string, default: base_link)
• “force_goal_orientation” (bool, default: true)
• “temporary_escape” (bool, default: true)
• “fast_map_update” (bool, default: false)
• “debug_mode” (string, default: std::string(“cost_estim”))

  debug output data type

  • “hyst”: path hysteresis cost
  • “cost_estim”: estimated cost to the goal used as A* heuristic function

• “queue_size_limit” (int, default: 0)
• “antialias_start” (bool, default: false)

  If enabled, the planner searches path from multiple surrounding grids within the grid size to reduce path chattering.

planner_2dof_serial_joints

planner_2dof_serial_joints provides collision avoidance for 2-DOF serial joint (e.g. controlling interfering pairs of sub-tracks for tracked vehicle.)

Subscribed topics

• ~/trajectory_in (new: trajectory_in) [trajectory_msgs::JointTrajectory]
• ~/joint (new: joint_states) [sensor_msgs::JointState]
• /tf

Published topics

• ~/trajectory_out (new: joint_trajectory) [trajectory_msgs::JointTrajectory]
• ~/status [planner_cspace_msgs::PlannerStatus]

Services

Called services

Parameters

• “resolution” (int, default: 128)
• “debug_aa” (bool, default: false)
• “replan_interval” (double, default: 0.2)
• “queue_size_limit” (int, default: 0)
• “link0_name” (string, default: std::string(“link0”))
• “link1_name” (string, default: std::string(“link1”))
• “point_vel_mode” (string, default: std::string(“prev”))
• “range” (int, default: 8)
• “num_groups” (int, default: 1)

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Changelog for package planner_cspace

0.18.1 (2025-06-06)

• planner_cspace: fix crowd escape to use original goal if reachable (#779)
• planner_cspace: fix error status during crowd escape (#776)
• Contributors: Atsushi Watanabe

0.18.0 (2025-05-13)

• Ignore temporary escape trigger if map is not received (#770)
• planner_cspace: crowd escape mode (#763)
• planner_cspace: fix flaky navigation tests (#768)
• Contributors: Atsushi Watanabe

0.17.7 (2025-04-16)

0.17.6 (2025-03-18)

• planner_cspace: fix flaky dynamic reconfigure test (#756)
• Contributors: Atsushi Watanabe

0.17.5 (2025-02-21)

• planner_cspace: reconstuct GridAstarModel3D only when necessary (#751)
• Contributors: Naotaka Hatao

0.17.4 (2025-01-20)

0.17.3 (2024-12-25)

• planner_cspace: add costmap_cspace integration test for out-of-bound position (#746)
• costmap_cspace: publish empty costmap_update on out-of-bound (#743)
• planner_cspace: reduce remember_updates calculation cost (#742)
• Contributors: Atsushi Watanabe

0.17.2 (2024-11-07)

• planner_3d: apply turn_penalty_cost_threshold in curve path (#739)
• Contributors: Naotaka Hatao

0.17.1 (2024-03-22)

• planner_3d: remove duplicated interpolation method (#733)
• Contributors: Naotaka Hatao

0.17.0 (2023-11-02)

• planner_3d: add an option to trigger planning by costmap updates (#727)
• planner_3d: fix cost calculation bug on in-place turning (#725)
• Contributors: Naotaka Hatao

0.16.0 (2023-09-14)

• planner_cspace: start planning from expected robot pose (#717)
• planner_cspace: add new parameters for cost function (#720)
• planner_cspace: refactor start pose building algorithm and fix finishing condition when start is relocated (#718)
• Contributors: Naotaka Hatao

0.15.0 (2023-08-30)

• planner_cspace: enable dynamic reconfigure (#714)
• planner_space: fix segmentation fault on out-of-map (#712)
• Contributors: Atsushi Watanabe, Naotaka Hatao

0.14.2 (2023-07-31)

• planner_cspace: improve peformance of DistanceMap (#709)
• planner_cspace: avoid multiple goal pose relocation (#708)
• Contributors: Naotaka Hatao

0.14.1 (2023-07-07)

• planner_cspace: fix error status handling after cost_estim_cache_ was not created (#705)
• Contributors: Naotaka Hatao

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