10 actions in 6 pieces of software · ranked by words, meaning and measured trust · 625 ms

1. 1easynav_costmap_plannerverified and signedpassport

   robot command setEasyNavigation/easynav_pluginsrecord

   • easynav_costmap_planner/plugin/easynav::CostmapPlanner

     Plug-in (fills easynav::PlannerMethodBase): A default "costmap" implementation for the A* path planner.

2. 2easynav_navmap_plannerverified and signedpassport

   robot command setEasyNavigation/easynav_pluginsrecord

   • easynav_navmap_planner/plugin/easynav::navmap::AStarPlanner

     Plug-in (fills easynav::PlannerMethodBase): A default "navmap" implementation for the A* path planner.

3. 3easynav_plannerverified and signedpassport

   robot command setEasyNavigation/EasyNavigationrecord

   • easynav_planner/plugin/easynav::DummyPlanner

     Plug-in (fills easynav::PlannerMethodBase): A default "dummy" implementation for the Planner Method. This path planning method does nothing. It serves as an example, and will be used as a default plugin implementation if the navigation system configuration does not specify one.

   • easynav_planner/plugin/easynav::FaultyPlanner

     Plug-in (fills easynav::PlannerMethodBase): Planner that injects faults (throw, hang, empty, frozen or NaN path), to test how EasyNav copes with them.

4. 4easynav_simple_plannerverified and signedpassport

   robot command setEasyNavigation/easynav_pluginsrecord

   • easynav_simple_planner/plugin/easynav::SimplePlanner

     Plug-in (fills easynav::PlannerMethodBase): A default "simple" implementation for the A* path planner.

5. 5easynav_costmap_maps_managerverified and signedpassport

   robot command setEasyNavigation/easynav_pluginsrecord

   • easynav_costmap_maps_manager/plugin/easynav::CostmapMapsManager

     Plug-in (fills easynav::MapsManagerBase): A "costmap" implementation for the Maps Manager.

   • easynav_costmap_maps_manager/plugin/easynav::InflationFilter

     Plug-in (fills easynav::CostmapFilter): A filter which inflate obstacles

   • easynav_costmap_maps_manager/plugin/easynav::ObstacleFilter

     Plug-in (fills easynav::CostmapFilter): A filter which detects obstacles with sensors

6. 6easynav_costmap_localizerverified and signedpassport

   robot command setEasyNavigation/easynav_pluginsrecord

   • easynav_costmap_localizer/plugin/easynav::AmclRelocalizeMitigation

     Plug-in (fills easynav_diagnostic_recovery::RecoveryMitigationBase): Rotates in place to help AMCL relocalize after a divergence diagnostic. See docs/recoveries_easynav.md §5.9.

   • easynav_costmap_localizer/plugin/easynav::AmclConvergenceEvaluator

     Plug-in (fills easynav_diagnostic_recovery::RecoveryEvaluatorBase): Diagnoses AMCL particle-filter divergence from the pose covariance trace. See docs/recoveries_easynav.md §5.9.