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"

`allow_partial_planning`

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

`bond_heartbeat_period`

Type: double Default: 0.25: 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.

`introspection_mode`

Type: string Default: "disabled": The introspection mode for services and actions. Options are "disabled", "metadata", "contents".

`allow_parameter_qos_overrides`

Type: bool Default: true: 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'