Configuration Guide

This guide provides a process through which the user can adjust the tunable parameters to obtain the best navigation performance.

Core Servers

• Behavior Server

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  Primitive behaviors and recovery.

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• Behavior-Tree Navigator

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  BT execution engine that orchestrates navigation tasks.

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• Behavior Tree XML Nodes

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  Reference for all BT action, condition, control, and decorator plugins.

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• Collision Monitor

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  Real-time collision monitoring bypassing costmaps.

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• Controller Server

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  Local trajectory planning and velocity command generation.

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• Costmap 2D

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  2D environmental representation with layered obstacle data.

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• Docking Server

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  Autonomous docking with chargers and static infrastructure.

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• Lifecycle Manager

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  Node lifecycle orchestration (configure, activate, shutdown).

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• Map Server

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  Static map loading, saving, and serving.

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• Planner Server

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  Global path planning from start to goal.

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• Route Server

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  Graph-based route planning over waypoint networks.

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• Smoother Server

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  Post-processing path smoothing for feasible trajectories.

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• Velocity Smoother

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  Smooth velocity commands to respect acceleration limits.

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• Waypoint Follower

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  Sequential waypoint execution with per-waypoint task plugins.

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Planners Plugins

• NavFn Planner

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  Classic A*/Dijkstra grid-based global planner.

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• Smac Planner

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  Family of kinematically-aware planners (2D, Hybrid-A*, Lattice).

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• Theta Star Planner

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  Any-angle grid planner with line-of-sight shortcuts.

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Controller Plugins

• DWB Controller

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  Dynamic Window approach with configurable trajectory critics.

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• Graceful Controller

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  Smooth, graceful motion controller based on spirals.

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• Model Predictive Path Integral Controller

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  Flagship sampling-based model predictive controller.

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• Regulated Pure Pursuit

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  Lookahead path follower with curvature and collision-based speed regulation.

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• Rotation Shim Controller

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  Rotate-in-place before handing off to the primary controller.

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Smoother Plugins

• Constrained Smoother

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  Optimization-based smoother respecting kinematic constraints.

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• Savitzky-Golay Smoother

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  Polynomial-fitting smoother for noise reduction.

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• Simple Smoother

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  Lightweight iterative path smoother.

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Others

• AMCL

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  Adaptive Monte Carlo Localization for map-based pose estimation.

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• Coverage Server

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  Complete coverage path planning for area-sweeping tasks.

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• Following Server

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  Dynamic object following with tracking recovery.

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• Loopback Simulator

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  Simulated robot for testing without Gazebo.

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