Flexible Navigation Planner Nodes

The planner nodes are all implementations of an ActionServer and will generate a nav_msgs/Path based on the ros-planning Navigation2 planner nodes.

Overview:

The highest level planner is the get_path planner and it will return a Path to any given geometry_msgs/Pose. The easiest way to do this is through rviz.

The lowest level planner is provided via a controller. See the controllers package for more information.

In addition to the standard global and local planners, you may also deploy any number of “mid-level” planners. The follow_path and follow_topic nodes have been designed to accept a Path and generate another Path from a different costmap with potentially higher accuracy. You may chain several planners together by using the follow_topic node and instructing them to listen to one another.

Changelog for package flex_nav_planners

1.1.0 (2023-07-14)

• Add smoother to planner nodes based on Nav2 simple smoother, but without external subscription; clean up
• modify progress monitoring; add option for simple orientation calculations along 2D paths
• Humble release
• new get_path_by_name state and server; set_pose_state; cmd_vel output type change and options; state test fix
• updates during testing with ROS 2 Foxy and Galactic
• update package dependencies, and installation directions
• ROS 2 Foxy release
• builds now
• local changes
• changes in process
• conversion to ROS Melodic
• update package depends; latest kinetic setup
• set timestamp properly; handle blocked execution by storing return values; add timed twist, stop, and pure pure pursuit states
• add dependency on catkin_EXPORTED_TARGETS
• Initial commit Flexible Navigation v1.0.0