10 actions in 6 pieces of software · ranked by words, meaning and measured trust · 666 ms

1. 1nav2_collision_monitorverified and signedpassport

   robot command setros-planning/navigation2record

   • nav2_collision_monitor/node/nav2_collision_monitor::CollisionMonitor

     Composable ROS 2 node nav2_collision_monitor::CollisionMonitor

   • nav2_collision_monitor/node/nav2_collision_monitor::CollisionDetector

     Composable ROS 2 node nav2_collision_monitor::CollisionDetector

2. 2nav2_routeverified and signedpassport

   robot command setros-planning/navigation2record

   • nav2_route/plugin/nav2_route::CollisionMonitor

     Plug-in (fills nav2_route::RouteOperation): Route operation to periodically check a costmap for localized viability of the route

3. 3nav2_costmap_2dverified and signedpassport

   robot command setros-planning/navigation2record

   • nav2_costmap_2d/plugin/nav2_costmap_2d::ObstacleLayer

     Map layer (fills nav2_costmap_2d::Layer): Listens to laser scan and point cloud messages and marks and clears grid cells.

   • nav2_costmap_2d/plugin/nav2_costmap_2d::RangeSensorLayer

     Map layer (fills nav2_costmap_2d::Layer): A range-sensor (sonar, IR) based obstacle layer for costmap_2d

   • nav2_costmap_2d/plugin/nav2_costmap_2d::StaticLayer

     Map layer (fills nav2_costmap_2d::Layer): Listens to OccupancyGrid messages and copies them in, like from map_server.

4. 4nav2_mppi_controllerverified and signedpassport

   robot command setros-planning/navigation2record

   • nav2_mppi_controller/plugin/mppi::critics::CostCritic

     Plug-in (fills mppi::critics::CriticFunction): mppi critic for obstacle avoidance using costmap score

   • nav2_mppi_controller/plugin/mppi::critics::ObstaclesCritic

     Plug-in (fills mppi::critics::CriticFunction): mppi critic for obstacle avoidance

5. 5nav2_map_serververified and signedpassport

   robot command setros-planning/navigation2record

   • nav2_map_server/node/nav2_map_server::CostmapFilterInfoServer

     Composable ROS 2 node nav2_map_server::CostmapFilterInfoServer

6. 6nav2_msgsverified and signedpassport

   robot command setros-planning/navigation2record

   • nav2_msgs/srv/ClearCostmapAroundRobot

     Clears the costmap within a distance