global_planner

depends

Dependency [movai_msgs-MovAI/Depends][movai_msgs-MovAI/Depends]

plugin

Plugin [movai_msgs-ROS1/PluginClient][movai_msgs-ROS1/PluginClient]

allow_unknown

[bool] Specifies whether or not to allow the planner to create plans that traverse unknown space. NOTE: if you are using a layered costmap_2d costmap with a voxel or obstacle layer, you must also set the track_unknown_space param for that layer to be true, or it will convert all your unknown space to free space (which planner will then happily go right through.

cost_factor

[double] Factor to multiply each cost from costmap by (dynamic reconfigure)

default_tolerance

[double] A tolerance on the goal point for the planner. The planner will attempt to create a plan that is as close to the specified goal as possible but no further than default_tolerance away.

lethal_cost

[int] Lethal Cost (dynamic reconfigure)

neutral_cost

[int] Neutral Cost (dynamic reconfigure)

old_navfn_behavior

[bool] If for some reason, you want global_planner to exactly mirror the behavior of navfn, set this to true (and use the defaults for the other boolean parameters

orientation_mode

[int] How to set the orientation of each point (None=0, Forward=1, Interpolate=2, ForwardThenInterpolate=3, Backward=4, Leftward=5, Rightward=6 (dynamic reconfigure)

orientation_window_size

[int] What window to use to determine the orientation based on the position derivative specified by the orientation mode (dynamic reconfigure)

outline_map

[bool] Outlines the global costmap with lethal obstacles. For the usage of a non static (rolling window global costmap this needs to be set to false

publish_potential

[bool] Publish Potential Costmap (dynamic reconfigure)

use_dijkstra

[bool] If true, use dijkstra's algorithm. Otherwise, A*.

use_grid_path

[bool] If true, create a path that follows the grid boundaries. Otherwise, use a gradient descent method.

use_quadratic

[bool] If true, use the quadratic approximation of the potential. Otherwise, use a simpler calculation.

visualize_potential

[bool] Specifies whether or not to visualize the potential area computed via a PointCloud2.