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	Default
double	0.5

Description

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

<name>.use_astar

Type	Default
bool	False

Description

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

<name>.allow_unknown

Type	Default
bool	True

Description

Whether to allow planning in unknown space.

<name>.use_final_approach_orientation

Type	Default
bool	false

Description

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

Example

planner_server:
  ros__parameters:
    planner_plugins: ['GridBased']
    GridBased:
      plugin: 'nav2_navfn_planner::NavfnPlanner' # In Iron and older versions, "/" was used instead of "::"
      use_astar: True
      allow_unknown: True
      tolerance: 1.0