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Nav Planning

A planning library for two mobile robots with a pan-tilt camera — the Trossen LoCoBot (differential drive) and the Clearpath Ridgeback (holonomic) — with motion planning (OMPL frontend, VAMP SIMD collision backend), kinodynamic planning (FLASK) and time-optimal trajectory generation, all behind a unified Python API. A sister library of Fetch-Planning and Autolife-Planning.

  • :material-package-variant:{ .lg .middle } Drop-in, few deps

    For inference: numpy and pin. No conda required, no ROS, no MoveIt. pip install nav-planning.

  • :material-robot-mower-outline:{ .lg .middle } Two robots, one API

    create_planner("locobot_base"), create_planner("ridgeback_whole_body") — the same planners, trajectories and low-level calls for both robots; only the name changes.

  • :material-speedometer:{ .lg .middle } Millisecond plans

    VAMP's SIMD sphere checks against point clouds: on the two-room demo scene RRT-Connect plans in 0.5–13 ms and FLASK returns dynamically feasible trajectories in 0.2–53 ms (medians, measurement).

Features

  • :material-map-marker-path:{ .lg .middle } Motion Planning

    OMPL frontend + VAMP SIMD backend. The LoCoBot's base is planned on Reeds-Shepp curves, the Ridgeback's in holonomic SE(2); the camera joints alongside, or held.

  • :material-timer-outline:{ .lg .middle } Time Parameterization

    Time-optimal path parameterization (TOPP-RA) with per-joint velocity and acceleration limits.

  • :material-run-fast:{ .lg .middle } Kinodynamic Planning

    FLASK plans a time-parameterised trajectory directly, within the joint and base limits — exactly nonholonomic for the LoCoBot.

  • :material-cube-scan:{ .lg .middle } Robots

    Collision spheres generated from the official robot descriptions; a documented camera mast for the Ridgeback.

Quick Install

For inference — running the planners — pip install the prebuilt wheel (Linux x86_64, Python 3.10–3.14):

pip install nav-planning

See the Getting Started guide for the full development setup (pixi + conda-forge toolchain, robot description rebuilds, FK codegen).