NavFn Planner

Source code on Github.

The Navfn Planner plugin implements a wavefront Dijkstra or A* expanded holonomic planner.

<name> is the corresponding planner plugin ID selected for this type.

Parameters

`<name>.tolerance`

Type: double Default: 0.5: Tolerance in meters between requested goal pose and end of path.

`<name>.use_astar`

Type: bool Default: false: Whether to use A*. If false, uses Dijkstra's expansion.

`<name>.max_cycles_factor`

Type: int Default: 4: Integer factor multiplied by the largest costmap dimension, in cells, to determine the maximum number of path extraction cycles. For example, a 500 by 400 cell costmap with a factor of 4 allows 2000 path extraction cycles. Increase this value for maps with long or winding paths that may exceed the default cycle limit. Higher values allow more path extraction work before failure and may increase planning time when a path cannot be extracted.

`<name>.allow_unknown`

Type: bool Default: true: Whether to allow planning in unknown space.

`<name>.use_final_approach_orientation`

Type: bool Default: false: If true, the last pose of the path generated by the planner will have its orientation set to the approach orientation, i.e. the orientation of the vector connecting the last two points of the path

`allow_parameter_qos_overrides`

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

Example

planner_server:
  ros__parameters:
    planner_plugins: ['GridBased']
    GridBased:
      plugin: 'nav2_navfn_planner::NavfnPlanner'
      use_astar: True
      allow_unknown: True
      tolerance: 1.0
      max_cycles_factor: 4