robot_navigation

(★ 477)

Spiritual successor to ros-planning/navigation.

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Download Latest Version (.zip)

- - costmap_queue.cpp
  - limited_costmap_queue.cpp
- - mbq_test.cpp
  - utest.cpp
- CMakeLists.txt
- package.xml
- README.md
- - cost_interpreter.cpp
  - dlux_global_planner.cpp
  - planner_node.cpp
- - kernel_test.cpp
- CMakeLists.txt
- Derivation.md
- nav_core2_plugins.xml
- package.xml
- README.md
- - 0-AllPaths.png
  - 10-Dij.png
  - 11-AMan.png
  - 12-ACart.png
  - 13-AManKer.png
  - 14-ACartKer.png
  - 20-Von.png
  - 21-Grid.png
  - 22-Grad.png
  - 30-Optimal.png
  - PlanLengthVsCellsExpanded.png
- - astar.cpp
  - dijkstra.cpp
  - gradient_path.cpp
  - grid_path.cpp
  - von_neumann_path.cpp
- - common.yaml
  - full_planner_test.cpp
  - full_planner_test.launch
  - global_oscillation_test.cpp
  - global_oscillation_test.launch
  - map.png
  - map.yaml
  - node_test.launch
  - planner_test.cpp
  - planner_test.launch
  - robert_frost.png
  - rviz.rviz
- CMakeLists.txt
- dlux_global_planner_plugins.xml
- package.xml
- README.md
- - alignment_util.cpp
  - base_obstacle.cpp
  - goal_align.cpp
  - goal_dist.cpp
  - map_grid.cpp
  - obstacle_footprint.cpp
  - oscillation.cpp
  - path_align.cpp
  - path_dist.cpp
  - prefer_forward.cpp
  - rotate_to_goal.cpp
  - twirling.cpp
- CMakeLists.txt
- default_critics.xml
- package.xml
- README.md
- - plan_node.launch
- - backwards_compatibility.cpp
  - debug_dwb_local_planner.cpp
  - dwb_local_planner.cpp
  - illegal_trajectory_tracker.cpp
  - planner_node.cpp
  - publisher.cpp
  - trajectory_utils.cpp
- - utils_test.cpp
- CMakeLists.txt
- package.xml
- plugins.xml
- README.md
- - CriticScore.msg
  - LocalPlanEvaluation.msg
  - Trajectory2D.msg
  - TrajectoryScore.msg
- - DebugLocalPlan.srv
  - GenerateTrajectory.srv
  - GenerateTwists.srv
  - GetCriticScore.srv
  - ScoreTrajectory.srv
- CMakeLists.txt
- package.xml
- - KinematicParams.cfg
- - lim_pv.png
  - std_pv.png
  - VelocitySpace.png
- - kinematic_parameters.cpp
  - limited_accel_generator.cpp
  - simple_goal_checker.cpp
  - standard_traj_generator.cpp
  - stopped_goal_checker.cpp
  - xy_theta_iterator.cpp
- - goal_checker.cpp
  - goal_checker.launch
  - twist_gen.cpp
  - twist_gen.launch
  - velocity_iterator_test.cpp
- CMakeLists.txt
- package.xml
- plugins.xml
- README.md
- - standard_tests.yaml
- - corner.png
  - empty.png
  - inflated.png
  - nopaths.png
  - smallloop.png
  - smile.png
  - unknown.png
- - easy_costmap.cpp
  - global_planner_tests.cpp
  - gpt_node.cpp
  - heatmap_node.cpp
  - many_map_node.cpp
  - many_map_test_suite.cpp
  - util.cpp
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- README.md
- - BuildingOnTop.md
  - ErrorHandling.md
  - ExampleStateMachines.md
  - Motivation.md
  - MultiplePlanners.md
  - PrimaryDesign.md
- - send_action.py
- - double_thread_locomotor.cpp
  - executor.cpp
  - locomotor.cpp
  - locomotor_action_server.cpp
  - publishers.cpp
  - single_thread_locomotor.cpp
- CMakeLists.txt
- package.xml
- README.md
- - NavigateToPose.action
- - NavigationState.msg
  - ResultCode.msg
- CMakeLists.txt
- package.xml
- README.md
- - state_machine.png
- - locomove_base.cpp
- CMakeLists.txt
- package.xml
- README.md
- - ComplexPolygon2D.msg
  - NavGridInfo.msg
  - NavGridOfChars.msg
  - NavGridOfCharsUpdate.msg
  - NavGridOfDoubles.msg
  - NavGridOfDoublesUpdate.msg
  - Path2D.msg
  - Point2D.msg
  - Polygon2D.msg
  - Polygon2DCollection.msg
  - Polygon2DStamped.msg
  - Pose2D32.msg
  - Pose2DStamped.msg
  - Twist2D.msg
  - Twist2D32.msg
  - Twist2DStamped.msg
  - UIntBounds.msg
- - SwitchPlugin.srv
- CMakeLists.txt
- package.xml
- README.md
- - Conversions.md
  - PluginMux.md
  - PolygonsAndFootprints.md
- - bounds.cpp
  - conversions.cpp
  - footprint.cpp
  - path_ops.cpp
  - polygons.cpp
  - tf_help.cpp
- - bounds_test.cpp
  - compress_test.cpp
  - param_tests.cpp
  - param_tests.launch
  - polygon_tests.cpp
  - resolution_test.cpp
- CMakeLists.txt
- package.xml
- README.md
- setup.py
- - exceptions.png
- - basic_costmap.cpp
- - bounds_test.cpp
  - exception_test.cpp
- CMakeLists.txt
- package.xml
- README.md
- - costmap_adapter.cpp
  - global_planner_adapter.cpp
  - global_planner_adapter2.cpp
  - local_planner_adapter.cpp
- - unload_test.cpp
  - unload_test.launch
- CMakeLists.txt
- nav_core2_plugins.xml
- nav_core_plugins.xml
- package.xml
- README.md
- - change_info.png
  - coords.png
  - nav_grid.png
- - utest.cpp
- CMakeLists.txt
- package.xml
- README.md
- - demo.cpp
  - demo.launch
  - demo.mp4
  - demo.rviz
- - bresenham.cpp
  - circle_fill.cpp
  - circle_outline.cpp
  - line.cpp
  - polygon_fill.cpp
  - polygon_outline.cpp
  - ray_trace.cpp
  - spiral.cpp
  - sub_grid.cpp
  - whole_grid.cpp
- - line_tests.cpp
  - utest.cpp
- CMakeLists.txt
- package.xml
- README.md
- - CostInterpretation.md
  - input0.png
  - input1.png
  - negate.png
  - publish.png
  - raw.png
  - scale_output.png
  - scale_pixel.png
  - trinary_input.png
  - trinary_output.png
  - trinary_pixel.png
- - cost_interpretation_tables.cpp
- CMakeLists.txt
- package.xml
- README.md
- - image_loader.cpp
  - saver.cpp
  - server.cpp
- - map_server_comparison.cpp
- CMakeLists.txt
- package.xml
- README.md
- - CMakeLists.txt
  - package.xml
  - README.md
- - CMakeLists.txt
  - package.xml
  - README.md
  - robot_nav_rviz_plugins.xml
  - rviz_plugins.xml
- - CMakeLists.txt
  - package.xml
- - CMakeLists.txt
  - package.xml
  - README.md
  - robot_nav_rviz_plugins.xml
  - rviz_plugins.xml
- - CMakeLists.txt
  - package.xml
  - plugins.xml
  - README.md
  - setup.py
- CMakeLists.txt
- package.xml
README.md

# Installation Guide

1. Get the code

git clone https://github.com/locusrobotics/robot_navigation

Downloads the entire project code from GitHub to your computer.

cd robot_navigation

Moves into the project folder you just downloaded.

2. CMake

Medium Recommended

Prerequisites

Git Needed to download the project code from GitHub.
CMake The tool used to generate build configuration.
C/C++ 컴파일러 Windows needs Visual Studio (Community edition, free), macOS needs Xcode Command Line Tools, Linux needs the gcc/g++ package.

cd costmap_queue

This project's files live in a subfolder, so move into it first.

mkdir build && cd build

Creates a folder to hold the build output and moves into it.

cmake ..

Analyzes the source code and generates build configuration files (must be run inside the build folder).

make

Compiles the code based on the generated build configuration to produce an executable.

✅ Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).

3. Python

Easy

Prerequisites

Git Needed to download the project code from GitHub.
Python 3 On Windows, be sure to check 'Add Python to PATH' during installation.

pip install .

Installs the package published on PyPI directly — no need to clone the source.

python <실행할 파일명>.py # README에서 정확한 실행 파일명을 확인하세요

Runs the Python script (or module).

✅ If it runs without errors and prints output in the terminal, it worked.