navfn¶

Contents:

Summary
Types
- Service types

Summary ¶

navfn¶

BuildtoolDepends:
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`
	`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