smac-lattice-planner

To use precomputed motion primitives for Nav2 lattice planning, configure the SMAC planner to load a lattice_primitives.json file at runtime. You must set the lattice_filepath parameter in your YAML configuration to point to this JSON file, enabling realistic trajectories for complex or asymmetric footprints.

You need a lattice planner when deploying robots with non-circular or asymmetric kinematic constraints in ROS 2 Nav2. It searches SE2 space using precomputed motion primitives to generate precise, executable paths that align with fixed turning radii and specific vehicle capabilities.

Configuring the SMAC lattice planner requires setting lattice_filepath to point to your JSON lattice file. You also need planner parameters such as max_iterations and max_planning_time defined in your YAML configuration to control the planning behavior and limits.

Yes, SMAC lattice planning supports custom vehicles with asymmetric kinematic constraints in Nav2. By loading a lattice_primitives.json file, the planner searches SE2 space to generate paths that respect the specific kinematic limitations and complex footprints of your vehicle.

Using precomputed motion primitives in Nav2 lattice planning requires a pre-generated lattice_primitives.json file matching your specific robot kinematics. Planning success and performance depend heavily on configuring appropriate max_iterations and max_planning_time limits in your YAML file.