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navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core.

navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core.

navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core.

navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core.

navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: hydro-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: indigo-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: jade-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: kinetic-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: lunar)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | rotate_recovery | voxel_grid

Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: melodic-devel)

Overview

This package provides an implementation of a fast, interpolated navigation function used to create plans for a mobile base through the navfn::NavFn class. It also provides a ROS Wrapper for this class via the navfn::NavfnROS object that adheres to the nav_core::BaseGlobalPlanner interface specified in the nav_core package. The navfn::NavfnROS object is also used as a global planner plugin for the move_base node.

The navfn::NavfnROS object is a wrapper for a navfn::NavFn object that exposes its functionality as a C++ ROS Wrapper. It operates within a ROS namespace (assumed to be name from here on) specified on initialization. It adheres to the nav_core::BaseGlobalPlanner interface found in the nav_core package.

Example creation of a navfn::NavfnROS object:

   1 #include <tf/transform_listener.h>
   2 #include <costmap_2d/costmap_2d_ros.h>
   3 #include <navfn/navfn_ros.h>
   4 
   5 ...
   6 
   7 tf::TransformListener tf(ros::Duration(10));
   8 costmap_2d::Costmap2DROS costmap("my_costmap", tf);
   9 
  10 navfn::NavfnROS navfn;
  11 navfn.initialize("my_navfn_planner", &costmap);

API Stability

ROS API

Published Topics

~<name>/plan (nav_msgs/Path)

Parameters

~<name>/allow_unknown (bool, default: true) ~<name>/planner_window_x (double, default: 0.0) ~<name>/planner_window_y (double, default: 0.0) ~<name>/default_tolerance (double, default: 0.0) ~<name>/visualize_potential (bool, default: false)

C++ API

navfn::NavfnROS adheres to the nav_core::BaseGlobalPlanner interface found in the nav_core package. For detailed documentation, please see NavfnROS C++ Documentation.

The navfn::NavFn object provides an implementation of the navigation function described above. Feel free to use it, but beware that we make no guarantees about the stability of its public API.

API Stability

C++ API

Reference


2019-06-22 12:56