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custom-planner-plugin

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Create a custom Nav2 planner plugin for ROS 2.

Software Engineering#navigation#plugin#c++#ros2#planner#nav2#global-planner
Authorwimblerobotics
Version1.0.0
Installs0

System Documentation

What problem does it solve?

Nav2 users can extend planning behavior by implementing the nav2_core::GlobalPlanner interface to create bespoke global planners that integrate with the global costmap.

Core Features & Use Cases

  • Implements the nav2_core::GlobalPlanner interface and exposes configure, cleanup, activate, deactivate, and createPlan methods.
  • Provides a complete C++ skeleton including header and source with plugin registration for ROS 2 Nav2.
  • Use Case: integrate a user-defined global planning algorithm to handle domain-specific constraints or custom costmaps.

Quick Start

Create a new planner plugin class inheriting from nav2_core::GlobalPlanner and register it as a plugin.

Dependency Matrix

Required Modules

None required

Components

Standard package

💻 Claude Code Installation

Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.

Please help me install this Skill:
Name: custom-planner-plugin
Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#custom-planner-plugin

Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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