10 actions in 3 pieces of software · ranked by words, meaning and measured trust · 917 ms

1. 1dwb_msgsverified and signedpassport

   robot command setros-planning/navigation2record

   • dwb_msgs/srv/GetCriticScore

     Service GetCriticScore in dwb_msgs: takes pose, velocity, global_plan, traj, critic_name; returns score.

   • dwb_msgs/srv/GenerateTrajectory

     For a given start pose, velocity and desired velocity, generate which poses will be visited

   • dwb_msgs/srv/GenerateTwists

     For a given velocity, generate which twist commands will be evaluated

   • dwb_msgs/srv/ScoreTrajectory

     Service ScoreTrajectory in dwb_msgs: takes pose, velocity, global_plan, traj; returns score.

   • dwb_msgs/srv/DebugLocalPlan

     For a given pose velocity and global_plan, run the local planner and return full results

2. 2dwb_pluginsverified and signedpassport

   robot command setros-planning/navigation2record

   • dwb_plugins/plugin/dwb_plugins::StandardTrajectoryGenerator

     Plug-in (fills dwb_core::TrajectoryGenerator)

   • dwb_plugins/plugin/dwb_plugins::SimpleGoalChecker

     Plug-in (fills nav2_core::GoalChecker)

   • dwb_plugins/plugin/dwb_plugins::StoppedGoalChecker

     Plug-in (fills nav2_core::GoalChecker)

   • dwb_plugins/plugin/dwb_plugins::LimitedAccelGenerator

     Plug-in (fills dwb_core::TrajectoryGenerator)

3. 3dwb_coreverified and signedpassport

   robot command setros-planning/navigation2record

   • dwb_core/plugin/dwb_core::DWBLocalPlanner

     Path-following controller (fills nav2_core::Controller)