README

Nav2 Smoother

The Nav2 smoother is a Task Server in Nav2 that implements the nav2_behavior_tree::SmoothPath interface.

A smoothing module implementing the nav2_behavior_tree::SmoothPath interface is responsible for improving path smoothness and/or quality, typically given an unsmoothed path from the planner module in nav2_planner. It loads a map of potential smoother plugins to do the path smoothing in different user-defined situations.

See the Navigation Plugin list for a list of the currently known and available smoother plugins.

See its Configuration Guide Page for additional parameter descriptions.

This package contains the Simple Smoother and Savitzky-Golay Smoother plugins.