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navfn-planner

Configure NavFn planner parameters for Dijkstra or A* global planning in ROS 2 Nav2.

18|2|Updated Apr 20, 2026
Search Tags:#planning#navigation#ros2#configure#path#planner#nav2
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill navfn-planner
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: navfn-planner
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/navfn-planner
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill navfn-planner

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

The NavFn planner configuration skill makes it simple to enable Dijkstra or A* global planning by tuning core parameters (use_astar, tolerance, allow_unknown) and selecting the appropriate planner plugin for your Nav2 deployment, ensuring reliable path generation on 2D costmaps.

Core Features & Use Cases

  • Exposes key planner parameters (use_astar, tolerance, allow_unknown) for straightforward tuning across ROS 2 Nav2 projects.
  • Supports multiple planner configurations within planner_server to compare GridBased and HybridBased options and swap between plans at runtime.
  • Use Case: configure global planning for indoor environments with obstacles and unknown areas, then validate path quality in simulation or in real robot runs.

Quick Start

Edit planner_server YAML to configure use_astar, tolerance, and allow_unknown, then run the Nav2 navigation stack

Frequently Asked Questions about navfn-planner

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I configure Nav2 global planning to use A* instead of Dijkstra?▼

Configure Nav2 global planning by setting the 'use_astar' parameter to true in your planner_server YAML file, which switches the NavFn planner from Dijkstra to A* path generation across 2D costmaps.

What is the NavFn planner used for in ROS 2 navigation?▼

The NavFn planner is a global planning plugin for ROS 2 Nav2 that generates reliable paths across 2D costmaps using Dijkstra or A* algorithms to navigate goals and manage tolerance configurations.

How do I allow path planning through unknown areas on a 2D costmap?▼

To allow path planning through unknown areas, configure the 'allow_unknown' parameter in your NavFn planner YAML setup, enabling the global planner to generate paths across unexplored regions of the costmap.

Can I run multiple planner configurations in the Nav2 planner_server?▼

Yes, you can configure multiple planner instances within the Nav2 planner_server to compare GridBased and HybridBased options, allowing you to validate path quality and swap between plans at runtime.

Does the NavFn planner configuration require external dependencies?▼

No, the NavFn planner configuration is a portable YAML setup that does not require external dependencies, exposing and validating parameters like 'tolerance' and 'use_astar' directly within the Nav2 stack.

Why does my Nav2 path planner fail to generate a valid path near obstacles?▼

Path generation fails when the 'tolerance' parameter is too restrictive for the obstacle density. Adjusting tolerance and 'allow_unknown' settings in the planner YAML ensures the NavFn planner can navigate around or through these areas.

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