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Package Summary
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
- Author: Eitan Marder-Eppstein
- License: BSD
- Repository: navigation
- Source: hg https://kforge.ros.org/navigation/navigation
Package Summary
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
- Author: Eitan Marder-Eppstein
- License: BSD
- Source: git https://github.com/ros-planning/navigation (branch: navigation-1.6)
Package Summary
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
- Author: Eitan Marder-Eppstein
- License: BSD
- Source: git https://github.com/ros-planning/navigation (branch: navigation-1.8)
Package Summary
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
- Author: Eitan Marder-Eppstein
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: groovy-devel)
Package Summary
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
- Author: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: hydro-devel)
Package Summary
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
- 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: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: indigo-devel)
Package Summary
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
- Maintainer status: maintained
- Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
- Author: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: jade-devel)
Package Summary
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
- 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: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: kinetic-devel)
Package Summary
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
- 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: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: lunar)
Package Summary
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
- 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: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: melodic-devel)
Package Summary
This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface.
- 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: Eitan Marder-Eppstein, contradict@gmail.com
- License: BSD
- Source: git https://github.com/ros-planning/navigation.git (branch: noetic-devel)
Contents
Overview
The nav_core package contains key interfaces for the navigation stack. All planners and recovery behaviors that wish to be used as plugins in the move_base node must adhere to these interfaces.
BaseGlobalPlanner
The nav_core::BaseGlobalPlanner provides an interface for global planners used in navigation. All global planners written as plugins for the move_base node must adhere to this interface. Current global planners using the nav_core::BaseGlobalPlanner interface are:
global_planner - A fast, interpolated global planner built as a more flexible replacement to navfn. (pluginlib name: "global_planner/GlobalPlanner")
navfn - A grid-based global planner that uses a navigation function to compute a path for a robot. (pluginlib name: "navfn/NavfnROS")
carrot_planner - A simple global planner that takes a user-specified goal point and attempts to move the robot as close to it as possible, even when that goal point is in an obstacle. (pluginlib name: "carrot_planner/CarrotPlanner")
API Stability
- The C++ API is stable.
BaseGlobalPlanner C++ API
Documentation on the C++ API for the nav_core::BaseGlobalPlanner can be found here: BaseGlobalPlanner documentation.
BaseLocalPlanner
The nav_core::BaseLocalPlanner provides an interface for local planners used in navigation. All local planners written as plugins for the move_base node must adhere to this interface. Current local planners using the nav_core::BaseLocalPlanner interface are:
base_local_planner - Provides implementations of the Dynamic Window Approach(DWA)and Trajectory Rollout approaches to local control
dwa_local_planner - Modular DWA implementation with a lot cleaner and easier interface to understand and more flexible y axis variables for holonomic robots than base_local_planner's DWA
eband_local_planner - Implements the Elastic Band method on the SE2 manifold
teb_local_planner - Implements the Timed-Elastic-Band method for online trajectory optimization
mpc_local_planner - Provides several model predictive control approaches embedded in the SE2 manifold
API Stability
- The C++ API is stable.
BaseLocalPlanner C++ API
Documentation on the C++ API for the nav_core::BaseLocalPlanner can be found here: BaseLocalPlanner documentation.
RecoveryBehavior
The nav_core::RecoveryBehavior provides an interface for recovery behaviors used in navigation. All recovery behaviors written as plugins for the move_base node must adhere to this interface. Current recovery behaviors using the nav_core::RecoveryBehavior interface are:
clear_costmap_recovery - A recovery behavior that reverts the costmaps used by move_base to the static map outside of a user-specified range
rotate_recovery - A recovery behavior that perfroms a 360 degree rotation of the robot to attempt to clear out space.
API Stability
- The C++ API is stable.
RecoveryBehavior C++ API
Documentation on the C++ API for the nav_core::RecoveryBehavior can be found here: RecoveryBehavior Documentation
