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# Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core. Edit to find also a plan, if the goal is in an obstacle.

- Maintainer: Meißner Pascal <asr-ros AT lists.kit DOT edu>
- Author: Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com, Felix Marek
- License: BSD
- Source: git https://github.com/asr-ros/asr_navfn.git (branch: master)

# Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core. Edit to find also a plan, if the goal is in an obstacle.

- Maintainer: Meißner Pascal <asr-ros AT lists.kit DOT edu>
- Author: Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com, Felix Marek
- License: BSD
- Source: git https://github.com/asr-ros/asr_navfn.git (branch: master)

# Package Summary

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core. Edit to find also a plan, if the goal is in an obstacle.

- Maintainer: Meißner Pascal <asr-ros AT lists.kit DOT edu>
- Author: Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com, Felix Marek
- License: BSD
- Source: git https://github.com/asr-ros/asr_navfn.git (branch: melodic)

## Description

This package includes an updated version of the standard navfn global planner in the standard ROS_Navigation. The updated function is, that the global planner can now find a nearest goal if the desired destination is in an obstacle. First have a look at this documentation: navfn.

## Functionality

Instead of aborting the path calculation if the goal is in an obstacle, now the planner doesn't abort. It calculates the shortest (weighted) path to the goal using the Dijkstra algorithm. The points on the costmap which are obstacles are rated as high as possible.

After calculating the path it is checked whether the goal is in an obstacle. If that is the case, the path is traversed backwards from the goal until a point is found which is not part of an obstacle. Otherwise the path is returned as it is.

At this picture you see a examle path calculation. The goal (red dot) is out of the reachable area of the global map. So the algorithm go backwart to the naearest reachable point.

## Usage

Clone this package to your catkin_workspace and compile it.

To use the asr_navfn set the "base_global_planner" parameter in the move_base package (look at move_base parameters) to "asr_navfn/NavfnROS". You can set it as parameter ("param") by start the move_base node in an launch file:

<param name="base_global_planner" value="asr_navfn/NavfnROS"/>

An example can be found in asr_mild_navigation in file "launch/navigation.launch".

## ROS Nodes

### Published Topics

~<name>/plan ( nav_msgs/Path)

The last plan computed by asr_navfn, published everytime the planner computes a new path, and used primarily for visualization purposes.

### Parameters

The same parameters like in navfn.