easynav_vff_controller

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
jazzy

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
kilted

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	kilted
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
lyrical

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	lyrical
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

easynav_vff_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_mhamcl_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner easynav_diagnostic_recovery easynav_simple_recovery

ROS Distro
humble

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	humble
Last Updated	2026-10-09
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: VFF Controller package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_vff_controller

Description

Vector Field Histogram (VFF) style local obstacle avoidance controller. Generates cmd_vel commands from proximity/cost data and a target path reference using a histogram-based steering selection.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Jose Miguel Guerrero Hernandez josemiguel.guerrero@urjc.es

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

Plugin Name: easynav_vff_controller/VffController
Type: easynav::VffController
Base Class: easynav::ControllerMethodBase
Library: easynav_vff_controller
Description: Histogram-based obstacle avoidance controller producing velocity commands.

Parameters

No ROS parameters are currently declared in code. (Add declarations in the plugin to enable runtime tuning.)

This plugin derives from easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.

Interfaces

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current pose for steering decisions.
`path`	`nav_msgs::msg::Path`	Read	Planned path reference.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command.

Velocity limits

The velocity limits are the robot limits of controller_node (robot_limits.max_linear_vel, robot_limits.max_angular_vel), queried with ControllerMethodBase::get_robot_limits() and also enforced by ControllerNode’s velocity smoother.

Deprecated: this plugin’s former limit parameters (max_speed, max_angular_speed, under the plugin’s name) still apply, with a warning, where controller_node.robot_limits.* does not set that limit. They will stop working soon: move them to robot_limits.

Publications

Topic	Type	Purpose	QoS
`/vff/markers`	`visualization_msgs/msg/MarkerArray`	Histogram / debug visualization (name inferred from code marker publisher variable).	depth=10

Subscriptions / Services

None directly; relies on NavState for data sharing.

TF Frames

Relies on frames stamped in robot_pose; does not query TF directly.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_vff_controller

0.5.0 (2026-10-08)

Velocity smoother support and runtime reconfiguration
The collision checker is no longer part of the controller
Contributors: Francisco Martín Rico

0.4.2 (2026-07-26)

Complete deps
Update plugins to new sensors API
Merge branch 'rolling' of github.com:midemig/easynav_plugins into rolling
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	easynav_controller
	easynav_common
	easynav_core
	easynav_sensors
	geometry_msgs
	nav_msgs
	pluginlib
	rclcpp
	rclcpp_lifecycle
	tf2
	visualization_msgs

System Dependencies

Name
libpcl-all-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_vff_controller` at Robotics Stack Exchange