Smoother Server

Source code on Github.

The Smoother Server implements the server for handling smooth path requests and hosting a vector of plugins implementing various C++ smoothers. The server exposes an action interface for smoothing with multiple smoothers that share resources such as costmaps and TF buffers.

Smoother Server Parameters

`costmap_topic`

Type: string Default: "global_costmap/costmap_raw": Raw costmap topic for collision checking.

`footprint_topic`

Type: string Default: "global_costmap/published_footprint": Topic for footprint in the costmap frame.

`transform_tolerance`

Type: double Default: 0.1: TF transform tolerance.

`robot_base_frame`

Type: string Default: "base_link": Robot base frame.

`smoother_plugins`

Type: vector<string> Default: ["simple_smoother"]

List of plugin names to use, also matches action server names.

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:

smoother_server:
  ros__parameters:
    smoother_plugins: ["simple_smoother", "curvature_smoother"]
    curvature_smoother:
      plugin: "nav2_ceres_costaware_smoother/CeresCostawareSmoother"
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"

`introspection_mode`

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

`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.

`allow_parameter_qos_overrides`

Type: bool Default: true: Whether to allow QoS profiles to be overwritten with parameterized values.

Example

smoother_server:
  ros__parameters:
    costmap_topic: global_costmap/costmap_raw
    footprint_topic: global_costmap/published_footprint
    robot_base_frame: base_link
    transform_tolerance: 0.1
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      do_refinement: True