smac-lattice-planner
CommunityNav2 lattice planning with precomputed primitives
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Configures the Nav2 SMAC Lattice planner to enable planning with precomputed motion primitives for robots with non-circular or complex footprints, providing realistic trajectories that align with vehicle capabilities.
Core Features & Use Cases
- Loads and uses lattice primitives to search SE2 for paths with kinematic constraints.
- Supports complex, asymmetric footprints where fixed turning radii are required.
- Use Case: when deploying a custom vehicle in ROS 2 Nav2 requiring precise, executable paths.
Quick Start
Load a lattice primitives JSON file named lattice_primitives.json and reference it in your GridBased Nav2 configuration to enable SMAC lattice planning.
Dependency Matrix
Required Modules
None requiredComponents
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: smac-lattice-planner Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#smac-lattice-planner Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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