README

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0