FeasiblePathHandler

Transforms the global plan into the local costmap frame, prunes it to the relevant portion within the costmap bounds, and handles in-place rotation and cusp pruning.

Parameters

<nav2_controller plugin>: nav2_controller plugin name defined in the path_handler_plugin_id parameter in Controller Server.

<nav2_controller plugin>.reject_unit_path

Type	Default
bool	false

Description: If enabled, the path handler will reject a path that contains only a single pose.

<nav2_controller plugin>.prune_distance

Type	Default
double	2.0

Description: Distance ahead of nearest point on path to robot to prune path to (m). This distance should be at least as great as the furthest distance of interest by a critic (i.e. for maximum velocity projection forward, threshold to consider).

<nav2_controller plugin>.max_robot_pose_search_dist

Type	Default
double	Costmap size / 2

Description: Max integrated distance ahead of robot pose to search for nearest path point in case of path looping.

<nav2_controller plugin>.enforce_path_inversion

Type	Default
bool	false

Description: If true, it will prune paths containing cusping points for segments changing directions (e.g. path inversions) such that the controller will be forced to change directions at or very near the planner’s requested inversion point. In addition, these cusping points will also be treated by the critics as local goals that the robot will attempt to reach. This is targeting Smac Planner users with feasible paths who need their robots to switch directions where specifically requested.

<nav2_controller plugin>.enforce_path_rotation

Type	Default
bool	false

Description: If true, the controller will detect in-place rotation segments (where translation is near zero) and prune the remaining poses after the rotation point. This forces the robot to explicitly perform the rotation before proceeding along the rest of the path. This is particularly useful for feasible planners (e.g., Smac Planner) where direction changes are intentionally introduced and must be respected during execution.

<nav2_controller plugin>.minimum_rotation_angle

Type	Default
double	0.785

Description: The minimum accumulated rotation (in radians) required to classify a segment as an in-place rotation. 0.785 rad = 45 deg.

<nav2_controller plugin>.inversion_xy_tolerance

Type	Default
double	0.2

Description: Cartesian proximity (m) to path inversion point to be considered “achieved” to pass on the rest of the path after path inversion.

<nav2_controller plugin>.inversion_yaw_tolerance

Type	Default
double	0.4

Description: Angular proximity (radians) to path inversion point to be considered “achieved” to pass on the rest of the path after path inversion. 0.4 rad = 23 deg.

Example

PathHandler:
    plugin: "nav2_controller::FeasiblePathHandler"
    prune_distance: 2.0
    enforce_path_inversion: True
    enforce_path_rotation: False
    inversion_xy_tolerance: 0.2
    inversion_yaw_tolerance: 0.4
    minimum_rotation_angle: 0.785
    reject_unit_path: False