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theta-star-planner

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Generate straighter, any-angle paths in ROS 2 Nav2.

Software Engineering#ros2#planner#line-of-sight#path-planning#nav2#theta-star#any-angle
Authorwimblerobotics
Version1.0.0
Installs0

System Documentation

What problem does it solve?

Configure and tune the Nav2 Theta* planner to generate straighter, any-angle paths in ROS 2 navigation tasks.

Core Features & Use Cases

  • Theta* integration for 2D planning with line-of-sight shortcuts to produce smoother paths.
  • Configurable parameters: how_many_corners, w_euc_cost, w_traversal_cost, terminal_checking_interval, allow_unknown.
  • Use Case: planning paths in gridmaps where diagonal moves are allowed and turning cost is significant to improve controller performance.

Quick Start

Add the theta-star-planner to your Nav2 configuration and tune the how_many_corners and cost weights to start generating smoother, shorter paths.

Dependency Matrix

Required Modules

None required

Components

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: theta-star-planner
Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#theta-star-planner

Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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