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Overview

The nav_core package contains key interfaces for the navigation stack. All planners and recovery behaviors that wish to be used as plugins in the move_base node must adhere to these interfaces.

move_base_interfaces.png

BaseGlobalPlanner

The nav_core::BaseGlobalPlanner provides an interface for global planners used in navigation. All global planners written as plugins for the move_base node must adhere to this interface. Current global planners using the nav_core::BaseGlobalPlanner interface are:

API Stability

BaseGlobalPlanner C++ API

Documentation on the C++ API for the nav_core::BaseGlobalPlanner can be found here: BaseGlobalPlanner documentation.

BaseLocalPlanner

The nav_core::BaseLocalPlanner provides an interface for local planners used in navigation. All local planners written as plugins for the move_base node must adhere to this interface. Current local planners using the nav_core::BaseLocalPlanner interface are:

API Stability

BaseLocalPlanner C++ API

Documentation on the C++ API for the nav_core::BaseLocalPlanner can be found here: BaseLocalPlanner documentation.

RecoveryBehavior

The nav_core::RecoveryBehavior provides an interface for recovery behaviors used in navigation. All recovery behaviors written as plugins for the move_base node must adhere to this interface. Current recovery behaviors using the nav_core::RecoveryBehavior interface are:

API Stability

RecoveryBehavior C++ API

Documentation on the C++ API for the nav_core::RecoveryBehavior can be found here: RecoveryBehavior Documentation


2024-07-06 13:16