Path planning

Path planning is the process of finding a path from a start point to a goal point through obstacles.

Path planning Setting a goal for navigation

Global planning

Local planning

ROS 2 Packages and Messages

  • nav2_bt_navigator (replaces move_base) The BT Navigator receives a goal pose and navigates the robot to the specified destination(s). To do so, the module reads an XML description of the Behavior Tree from a file, as specified by a Node parameter, and passes that to a generic BehaviorTreeEngine class which uses the Behavior-Tree.CPP library to dynamically create and execute the BT. The BT XML can also be specified on a per-task basis so that your robot may have many different types of navigation or autonomy behaviors on a per-task basis

ROS 1

  • move_base provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task.