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Usage

voronoi_planner is loaded by move_base as a global planner plugin.

Minimal `move_base` Configuration

base_global_planner: "voronoi_planner/VoronoiPlanner"

The planner consumes the active global costmap and returns a geometry_msgs/PoseStamped[] plan through the nav_core::BaseGlobalPlanner interface.

Example Parameter File

See examples/move_base_global_planner.yaml.

The important plugin setting is:

base_global_planner: "voronoi_planner/VoronoiPlanner"

Planner-specific dynamic reconfigure parameters live under the plugin name used by move_base.

Runtime Topics and Services

The plugin advertises:

plan: generated nav_msgs/Path for visualization.
voronoi_grid: optional nav_msgs/OccupancyGrid debug view.
make_plan: nav_msgs/GetPlan service wrapper.

Topic names are scoped by the private node handle created for the planner name.

RViz Debugging

Useful displays:

Path display for the generated plan.
Map display for voronoi_grid when publish_voronoi_grid is enabled.
Global costmap display from move_base to compare obstacles and inflation.

Tuning Workflow

Start with publish_voronoi_grid: true.
Confirm that the Voronoi graph appears in free space.
Send goals through RViz and compare the path with obstacle clearance.
Adjust smoothing parameters with rqt_reconfigure.
Disable Voronoi grid publication if bandwidth or visualization noise matters.