Smoother Server¶
Source code on Github.
The Smoother Server implements the server for handling smooth path requests and hosting a vector of plugins implementing various C++ smoothers. The server exposes an action interface for smoothing with multiple smoothers that share resources such as costmaps and TF buffers.
Smoother Server Parameters¶
costmap_topic: |
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footprint_topic: | |||||
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transform_tolerance: | |||||
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robot_base_frame: | |||||
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smoother_plugins: | |||||
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Example¶
smoother_server:
ros__parameters:
costmap_topic: global_costmap/costmap_raw
footprint_topic: global_costmap/published_footprint
robot_base_frame: base_link
transform_timeout: 0.1
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
do_refinement: True