Skip to content

README.md

Latest commit

 

History

History
62 lines (40 loc) · 2.21 KB

README.md

File metadata and controls

62 lines (40 loc) · 2.21 KB

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_vff_controller/VffController
    Type: easynav::VffController
    Base Class: easynav::ControllerMethodBase
    Library: easynav_vff_controller
    Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key Type Access Notes
robot_pose nav_msgs::msg::Odometry Read Current pose for steering decisions.
path nav_msgs::msg::Path Read Planned path reference.
cmd_vel geometry_msgs::msg::TwistStamped Write Output velocity command.

Publications

Topic Type Purpose QoS
/vff/markers visualization_msgs/msg/MarkerArray Histogram / debug visualization (name inferred from code marker publisher variable). depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0