NavFn Planner

Source code on Github.

The Navfn Planner plugin implements a wavefront Dijkstra or A* expanded holonomic planner.

<name> is the corresponding planner plugin ID selected for this type.

Parameters

<name>.tolerance

Type: double Default: 0.5

Tolerance in meters between requested goal pose and end of path.

<name>.use_astar

Type: bool Default: false

Whether to use A*. If false, uses Dijkstra's expansion.

<name>.allow_unknown

Type: bool Default: true

Whether to allow planning in unknown space.

<name>.use_final_approach_orientation

Type: bool Default: false

If true, the last pose of the path generated by the planner will have its orientation set to the approach orientation, i.e. the orientation of the vector connecting the last two points of the path

allow_parameter_qos_overrides

Type: bool Default: true

Whether to allow QoS profiles to be overwritten with parameterized values.

Example

planner_server:
  ros__parameters:
    planner_plugins: ['GridBased']
    GridBased:
      plugin: 'nav2_navfn_planner::NavfnPlanner'
      use_astar: True
      allow_unknown: True
      tolerance: 1.0