smac-planner-hybrid-a-star
CommunityPlan feasible Nav2 paths with Hybrid-A*.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
SMAC Hybrid-A* planner provides non-holonomic, kinematically feasible path planning for ROS 2 Nav2 by extending A* into SE(2) with motion primitives and a closed-form analytic expansion when possible.
Core Features & Use Cases
- Supports planning in SE(2) using discretized headings and motion primitives (DUBIN/REEDS_SHEPP) to produce executable paths for differential drive and Ackermann robots.
- Exposes tunable parameters such as minimum_turning_radius, motion_model_for_search, angle_quantization_bins, analytic_expansion_ratio, and lookup_table_size to balance speed and path quality.
- Useful for docking, parking, and navigating tight corridors where non-holonomic constraints are critical for safe, feasible trajectories.
Quick Start
Configure the planner in Nav2 with your robot's parameters and run a planning request on a sample map.
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-hybrid-a-star Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#smac-planner-hybrid-a-star Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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