navfn 1.17.3 navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in nav_core. Kurt Konolige Eitan Marder-Eppstein contradict@gmail.com David V. Lu!! Michael Ferguson Aaron Hoy BSD http://wiki.ros.org/navfn catkin cmake_modules message_generation netpbm costmap_2d geometry_msgs nav_core nav_msgs pluginlib rosconsole roscpp sensor_msgs tf2_ros visualization_msgs message_runtime rosunit