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 "::"

allow_partial_planning

Type	Default
bool	false

Description

Allows planner server to output partial paths in the presence of obstacles when planning through poses. Otherwise planner fails and aborts the plan request in such a case by default.

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.

introspection_mode

Type	Default
string	“disabled”

Description

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

allow_parameter_qos_overrides

Type	Default
bool	true

Description

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

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