planner-comparison

Compare ROS 2 Nav2 planners like NavFn, SMAC 2D, SMAC Hybrid-A*, SMAC Lattice, and Theta* using a decision matrix. Select the right planner based on whether your robot is differential-drive, Ackermann, or holonomic, and your specific environment.

Choose between NavFn, SMAC, and Theta* by evaluating their use-cases in a decision matrix. NavFn suits standard global planning, SMAC offers specialized Ackermann and Lattice options, and Theta* provides direct path calculations for holonomic robots.

Yes, you can switch ROS 2 Nav2 planners at runtime. The framework provides runtime planner switching guidance and practical configuration notes to help you adapt your navigation strategy dynamically as your robot encounters varying environmental conditions.

Yes, the SMAC Hybrid-A* planner works with Ackermann robots in Nav2. The evaluation framework specifically includes recommended use-cases and configuration notes for applying SMAC Hybrid-A* to Ackermann vehicles and other robot types.

Configure the SMAC Lattice planner in ROS 2 Nav2 by applying the provided practical configuration notes and best practices. The framework offers specific guidance on setting up Lattice parameters for your robot's navigation deployment.

NavFn limitations for holonomic robots include suboptimal path generation compared to Theta* or SMAC Lattice. The decision matrix highlights when NavFn falls short and outlines upgrade paths to more suitable planners for holonomic movement.