smac-planner-2d
CommunityFast, grid-based 2D path planning for Nav2.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Computes efficient grid-based paths on 2D occupancy grids using the SMAC heuristic, delivering fast, reliable routes for simple indoor layouts.
Core Features & Use Cases
- A* search on a 2D grid with a Wavefront heuristic to guarantee admissible distances.
- Optional costmap downsampling to speed planning on large maps.
- Built-in path smoother to reduce jagged paths after planning.
- Use cases include indoor navigation, fast replanning, and scenarios where robot kinematics are handled by the controller.
Quick Start
Load the SMAC Planner 2D into a Nav2 setup with the provided YAML configuration and run a test planning scenario on a sample occupancy grid.
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-planner-2d Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#smac-planner-2d Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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