Overview

Contains the ROS-dependent libraries for may_nav as well as the main navigation node

Nodes

may-nav

Launch using may_nav.launch

Modules

costmap.h

Converts sensor callback data into a cost map

geometry.hpp

Convert between ROS and may_nav geometry types

global_planner.hpp

Implements an asynchronous wrapper for the global planner.

local_planner.hpp

Create debug data for the local planner

map.hpp

Convert between ROS and may_nav map types

map_manager.hpp

Manages the usage of externally provided data (tf, map, sensors) to create the set of cost maps and transforms needed for global and local planning.

message_buffer.hpp

Wrapper for callbacks to ROS subscribers to buffer messages till they are needed by a map manager update call.

navigation_action_server.hpp

Implementation of the main action server that runs navigation

state_manager.hpp

Protect may_nav’s internal state from race conditions between action server and service calls

tf_interface.hpp

Wrapper for the ROS tf