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添加了新的planner，未实际实现过，需进行测试

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Orange
2026-07-12 19:44:23 +08:00
parent 79f0a4d586
commit c8cd3c29f5
21 changed files with 2505 additions and 985 deletions
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38
src/planner/package.xml
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@@ -1,26 +1,34 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>planner</name>
<version>0.0.0</version>
<description>Minimal Nav2 global planning stack: slam_toolbox + planner_server + costmaps + lifecycle_manager</description>
<maintainer email="2314753575@qq.com">sunrise</maintainer>
<license>TODO: License declaration</license>
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>planner</name>
<version>0.0.0</version>
<description>Minimal Nav2 global planning stack: slam_toolbox + planner_server + costmaps + lifecycle_manager</description>
<maintainer email="2314753575@qq.com">sunrise</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>std_msgs</depend>
<depend>slam_toolbox</depend>
<depend>nav2_planner</depend>
<depend>nav2_costmap_2d</depend>
<depend>nav2_lifecycle_manager</depend>
<depend>nav2_common</depend>
<depend>nav2_util</depend>
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<exec_depend>rclpy</exec_depend>
<exec_depend>python3-yaml</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>