mrpt_reactivenav2d

Overview

This package provides a ROS 2 node for reactive navigation for wheeled robots using MRPT navigation algorithms (TP-Space).

How to cite

Configuration

The main parameters of our approach are:

• Robot shape: The “2D foot-print” of the robot.
• PTGs: One or more families of trajectories, used to look ahead and plan what is the most interesting next motor command.
• Motion decision: These parameters can be tuned to modify the heuristics that control what motor actions are selected.

Demos

Navigation in simulated warehouse

ros2 launch mrpt_tutorials reactive_nav_demo_with_mvsim.launch.py

to start:

• mrpt_reactivenav2d for the autonomous reactive navigation (this package),
• mrpt_pointcloud_pipeline for generating input obstacles for the navigator from lidar data,
• mvsim to simulate a live robot that can be controlled by the navigator.

Node: mrpt_reactivenav2d_node

Working rationale

The C++ ROS 2 node comprises XXX

At startup the PTG lookup tables are built in the background, which can take tens of seconds. Goals, waypoint sequences and action requests received meanwhile are rejected with a warning in the log (engine initialized marks when the node is ready).

ROS 2 parameters

XXX

Subscribed topics

• xxx

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Changelog for package mrpt_reactivenav2d

2.6.1 (2026-10-02)

2.6.0 (2026-10-01)

• Merge pull request #175 from mrpt-ros-pkg/mrpt3
• Merge ros2 into mrpt3
• Declare missing MRPT 3.x package.xml dependencies
• Merge pull request #163 from mrpt-ros-pkg/feature/ccache-support
• build: enable ccache in all packages when available
• Apply clang-format-14 to all sources
• Port to mrpt3: fix CNetworkOfPoses*_NA removal, CRobot2NavInterface API changes
• Port to MRPT 3.x: rename packages and targets
• Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-05-11)

• Merge pull request #161 from mrpt-ros-pkg/fix-threads Fix threads
• fix: destructor shutdown hang and broken thread-reap predicate in mrpt_reactivenav2d Call rnavEngine_.cancel() in the destructor (after cancelling the timer, before joining action threads) so any active navigation is aborted and action threads can observe a terminal nav state instead of always sleeping a full period before rclcpp::ok() lets them exit. Remove the erase/remove_if reap in handle_accepted and handle_accepted_wp: the predicate [!t.joinable()]{.title-ref} never matched real threads because a finished but unjoined std::thread is still joinable; the cleanup loop was always a no-op. The destructor join loop already handles all cleanup correctly. Co-Authored-By: Claude Sonnet 4.6 <<noreply@anthropic.com>>
• fix: parameter declaration
• fix: various multithreading issues
• Merge pull request #159 from mrpt-ros-pkg/bump-cmake bump min req cmake version to 3.22
• bump min req cmake version to 3.22
• Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-04-19)

2.3.1 (2026-04-02)

2.3.0 (2025-10-26)

2.2.4 (2025-07-24)

2.2.3 (2025-07-22)

• FIX: Build against recent tf2 versions
• Contributors: Jose Luis Blanco-Claraco

2.2.2 (2025-05-28)

• FIX: remove usage of obsolete ament_target_dependencies()
• remove special code to build against older mrpt_msgs
• Contributors: Jose Luis Blanco-Claraco

2.2.1 (2024-10-12)

• Update for MRPT 2.14.3 (new RNAV weight for target heading)
• Support speed_ratio property for Waypoints
• Improve astar navigation demo
• Contributors: Jose Luis Blanco-Claraco

2.2.0 (2024-09-25)

• Update URL entries in package.xml to each package proper documentation
• ament linters: manually enable just cmake and xml linters
• reformat clang-format with 100 column width
• Contributors: Jose Luis Blanco-Claraco

2.1.1 (2024-09-02)

• Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
• Fix duplicated deps
• update dependencies
• Depend on new mrpt_lib packages (deprecate mrpt2)
• Contributors: Jose Luis Blanco-Claraco
• Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
• Fix duplicated deps
• update dependencies
• Depend on new mrpt_lib packages (deprecate mrpt2)
• Contributors: Jose Luis Blanco-Claraco

2.1.0 (2024-08-08)

• Hide example output into <details>
• Merge branch 'ros2' into wip/port-tps-astar
• rnav node now detects live changes in the parameter

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