planner-comparison

Name: planner-comparison
Availability: InStock
Author: wimble

Compares ROS 2 Nav2 planner options for robot-type-specific selection.

18|2|Updated Apr 20, 2026

Search Tags:#comparison #ros2 #planner #decision-matrix #path-planning #nav2 #robot-type

Ready to run

npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill planner-comparison

💬 Prompt for ChatGPT / Claude Chat▼

Please help me install this Agent Skill.
Skill: planner-comparison
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/planner-comparison
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill planner-comparison

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

Compare ROS 2 Nav2 planners (NavFn, SMAC 2D, Hybrid-A*, Lattice, Theta*) to help you select the best planning strategy for your robot type and environment.

Core Features & Use Cases

Decision Matrix and cross-planner guidance across NavFn, SMAC 2D, SMAC Hybrid-A*, SMAC Lattice, and Theta* for various robot types and environments.
Runtime planner switching guidance, upgrade paths, and practical configuration notes for ROS 2 Nav2.
Practical benchmarks, configuration notes, and best practices for ros2 navigation planning.

Quick Start

Compare planners for your robot and choose the best option for your ROS 2 Nav2 deployment.

Frequently Asked Questions about planner-comparison

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

FAQPage Schema

What is the best ROS 2 Nav2 planner for my robot type?▼

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.

How do I choose between NavFn, SMAC, and Theta* for ROS 2 navigation?▼

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.

Can I switch ROS 2 Nav2 planners at runtime for different environments?▼

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.

Does the SMAC Hybrid-A* planner work with Ackermann robots in Nav2?▼

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.

How do I configure a SMAC Lattice planner in ROS 2 Nav2?▼

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.

What are the limitations of using NavFn for holonomic robot path planning?▼

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.