Overview

Contains the ROS agnostic libraries for may_nav

Modules

bumper_map_updater.hpp

Updates a cost map with bump information

cost_function.hpp

The cost function applied to the distance to obstacles

geometry.hpp

Basic geometry types. (e.g. Pose, Velocity, Trajectory)

goal_correction.hpp

Algorithms for correcting a goal placed inside an obstacle`

grid.hpp

Defines the basic type used to store map information

laser_map_updater.hpp

Updates a cost map with laser information

local_planner.hpp

Contains the implementation for the DWA local planner

map.hpp

Contains operations on multiple maps (e.g. merge_maps)

nav_modes.hpp

Defines nav types

person_follower.hpp

Defines a variant of the DWA local planner used to follow people. Is currently deprecated

planner_constraints.hpp

Generates a grid to bound the global planner to a region around the start pose and goal pose.

state_machine.hpp

Manages different modes of the local planner in order to robustly follow a global plan