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: vector<string> Default: ["GridBased"]

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: double Default: 1.0: Expected planner frequency. If the current frequency is less than the expected frequency, display the warning message.

`action_server_result_timeout`

Type: double Default: 10.0 Unit: seconds: The timeout value (in seconds) for action servers to discard a goal handle if a result has not been produced. This used to default to 15 minutes in rcl but was changed to 10 seconds in this PR #1012, which may be less than some actions in Nav2 take to run. For most applications, this should not need to be adjusted as long as the actions within the server do not exceed this deadline. This issue has been raised with OSRF to find another solution to avoid active goal timeouts for bookkeeping, so this is a semi-temporary workaround.

`bond_heartbeat_period`

Type: double Default: 0.1: The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.

`costmap_update_timeout`

Type: double Default: 1.0: The timeout value (seconds) for the costmap to be fully updated before a planning request.

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