README

easynav_simple_planner

Description

A simple A* planner over a lightweight SimpleMap grid. It reads the dynamic simple map, goals, and robot pose from NavState and publishes a nav_msgs/Path.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_simple_planner/SimplePlanner
Type: easynav::SimplePlanner
Base Class: easynav::PlannerMethodBase
Library: easynav_simple_planner
Description: A simple A* planner over a lightweight SimpleMap grid. It reads the dynamic simple map, goals, and robot pose from NavState and publishes a nav_msgs/Path.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_simple_planner/SimplePlanner/....

Name	Type	Default	Description
`<plugin>.robot_radius`	`double`	`0.3`	Robot inscribed radius (m) used to validate traversability.
`<plugin>.clearance_distance`	`double`	`0.2`	Extra clearance distance (m) to keep away from obstacles.

Interfaces (Topics and Services)

Publications

Direction	Topic	Type	Purpose	QoS
Publisher	`<node_fqn>/<plugin>/path`	`nav_msgs/msg/Path`	Publishes the computed A* path.	depth=10

This plugin does not create subscriptions or services directly; it reads inputs from NavState.

NavState Keys

Key	Type	Access	Notes
`goals`	`nav_msgs::msg::Goals`	Read	Planner targets.
`map.dynamic`	`SimpleMap`	Read	Dynamic `SimpleMap` grid used for search.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Start pose for path planning.
`path`	`nav_msgs::msg::Path`	Write	Output path to follow.

TF Frames

This plugin does not perform TF lookups directly; frame consistency is assumed between map, robot pose, and published path.

License

Apache-2.0