easynav_simple_planner Directory Reference

Directory dependency graph for easynav_simple_planner:

Directories
	include
	src

Detailed Description

easynav_simple_planner

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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 fmric.nosp@m.o@gm.nosp@m.ail.c.nosp@m.om

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
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