Configuration Guide

This guide provides a process through which the user can adjust the tunable parameters to obtain the best navigation performance.

Core Servers

Behavior Server Behavior-Tree Navigator Behavior Tree XML Nodes Collision Monitor Controller Server Costmap 2D Docking Server Lifecycle Manager Map Server Planner Server Route Server Smoother Server Velocity Smoother Waypoint Follower

Planners Plugins

NavFn Planner Smac Planner Theta Star Planner

Controller Plugins

DWB Controller Graceful Controller Model Predictive Path Integral Controller Regulated Pure Pursuit Rotation Shim Controller

Smoother Plugins

Constrained smoother Savitzky-Golay Smoother Simple Smoother

Others

AMCL Coverage Server Following Server Loopback Simulator