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sphinx.ros
  • Docs »
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  • navfn
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navfn¶

Contents:

  • Summary
  • Types
    • Service types

Summary¶

navfn¶
Version:

1.13.0

Description:

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core.

Maintainers:
  • David V. Lu!! <davidvlu AT gmail DOT com>
  • Michael Ferguson <mferguson AT fetchrobotics DOT com>
Licenses:
  • BSD
Urls:
  • website<http://wiki.ros.org/navfn>
Authors:
  • Kurt Konolige
  • Eitan Marder-Eppstein
  • contradict@gmail.com
BuildDepends:
  • cmake_modules
  • costmap_2d
  • geometry_msgs
  • nav_core
  • nav_msgs
  • netpbm
  • pcl_conversions
  • pcl_ros
  • pluginlib
  • rosconsole
  • roscpp
  • tf
  • visualization_msgs
BuildtoolDepends:
 
  • catkin
BuildExportDepends:
 
  • costmap_2d
  • geometry_msgs
  • nav_core
  • nav_msgs
  • pcl_conversions
  • pcl_ros
  • pluginlib
  • rosconsole
  • roscpp
  • tf
  • visualization_msgs
ExecDepends:
  • costmap_2d
  • geometry_msgs
  • nav_core
  • nav_msgs
  • pcl_conversions
  • pcl_ros
  • pluginlib
  • rosconsole
  • roscpp
  • tf
  • visualization_msgs
Exports:
  • <nav_core plugin=”${prefix}/bgp_plugin.xml”/>

Types¶

Service types¶

  • navfn/SetCostmap
  • navfn/MakeNavPlan
navfn/SetCostmap¶
Field (Request):
 
  • costs[] (uint8) –
  • height (uint16) –
  • width (uint16) –
uint8[] costs
uint16 height
uint16 width
---
navfn/MakeNavPlan¶
Field (Request):
 
  • start (geometry_msgs/PoseStamped) –
  • goal (geometry_msgs/PoseStamped) –
Field (Response):
 
  • plan_found (uint8) –
  • error_message (string) –
  • path[] (geometry_msgs/PoseStamped) –
geometry_msgs/PoseStamped start
geometry_msgs/PoseStamped goal
---

uint8 plan_found
string error_message

# if plan_found is true, this is an array of waypoints from start to goal, where the first one equals start and the last one equals goal
geometry_msgs/PoseStamped[] path
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