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easynav_simple_planner

ROS 2: humble ROS 2: jazzy ROS 2: kilted ROS 2: rolling

Description

A simple A* planner over a lightweight SimpleMap grid. It reads the dynamic simple map, goals, and robot pose from NavState and publishes a nav_msgs/Path.

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_planner/SimplePlanner
  • Type: easynav::SimplePlanner
  • Base Class: easynav::PlannerMethodBase
  • Library: easynav_simple_planner
  • Description: A simple A* planner over a lightweight SimpleMap grid. It reads the dynamic simple map, goals, and robot pose from NavState and publishes a nav_msgs/Path.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_simple_planner/SimplePlanner/....

Name Type Default Description
<plugin>.robot_radius double 0.3 Robot inscribed radius (m) used to validate traversability.
<plugin>.clearance_distance double 0.2 Extra clearance distance (m) to keep away from obstacles.

Interfaces (Topics and Services)

Publications

Direction Topic Type Purpose QoS
Publisher <node_fqn>/<plugin>/path nav_msgs/msg/Path Publishes the computed A* path. depth=10

This plugin does not create subscriptions or services directly; it reads inputs from NavState.

NavState Keys

Key Type Access Notes
goals nav_msgs::msg::Goals Read Planner targets.
map.dynamic SimpleMap Read Dynamic SimpleMap grid used for search.
robot_pose nav_msgs::msg::Odometry Read Start pose for path planning.
path nav_msgs::msg::Path Write Output path to follow.

TF Frames

This plugin does not perform TF lookups directly; frame consistency is assumed between map, robot pose, and published path.

License

Apache-2.0