Planner Server

Source code on Github.

The Planner Server implements the server for handling the planner requests for the stack and host a map of plugin implementations. It will take in a goal and a planner plugin name to use and call the appropriate plugin to compute a path to the goal. It also hosts the global costmap.

Parameters

planner_plugins

Type	Default
vector<string>	[‘GridBased’]

Description

List of Mapped plugin names for parameters and processing requests.

Note

Each plugin namespace defined in this list needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.

Example:

planner_server:
  ros__parameters:
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner::NavfnPlanner" # In Iron and older versions, "/" was used instead of "::"

expected_planner_frequency

Type	Default
double	20.0

Description

Expected planner frequency. If the current frequency is less than the expected frequency, display the warning message.

bond_heartbeat_period

Type	Default
double	0.1

Description

The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.

costmap_update_timeout

Type	Default
double	1.0

Description

The timeout value (seconds) for the costmap to be fully updated before a planning request.

service_introspection_mode

Type	Default
string	“disabled”

Description

The introspection mode for services. Options are “disabled”, “metadata”, “contents”.

Default Plugins

When the planner_plugins parameter is not overridden, the following default plugins are loaded:

Namespace	Plugin
“GridBased”	“nav2_navfn_planner::NavfnPlanner”

Example

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    costmap_update_timeout: 1.0
    service_introspection_mode: "disabled"
    planner_plugins: ['GridBased']
    GridBased:
      plugin: 'nav2_navfn_planner::NavfnPlanner' # In Iron and older versions, "/" was used instead of "::"