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easynav_serest_controller package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_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

ROS Distro
jazzy

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Package Summary

Version	0.2.1
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	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: SeReST Controller package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

controllers/easynav_serest_controller/README.md

easynav_serest_controller

Description

A SeReST (Smooth Error-Responsive Speed and Turning) controller for path tracking.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling
jazzy

Plugin (pluginlib)

Plugin Name: easynav_serest_controller/SerestController
Type: easynav::SerestController
Base Class: easynav::ControllerMethodBase
Library: easynav_serest_controller
Description: A SeReST (Smooth Error-Responsive Speed and Turning) controller for path tracking.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_serest_controller/SerestController/....

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

Name	Type	Default	Description
`<plugin>.a_acc`	`double`	`0.8`	Comfortable forward acceleration (m/s²).
`<plugin>.a_brake`	`double`	`1.2`	Comfortable braking deceleration (m/s²).
`<plugin>.a_lat_max`	`double`	`1.5`	Maximum lateral acceleration (m/s²).
`<plugin>.a_lat_soft`	`double`	`1.1`	Soft lateral acceleration bound (m/s²).
`<plugin>.allow_reverse`	`bool`	`false`	Allow reversing when beneficial.
`<plugin>.apex_ey_des`	`double`	`0.05`	Desired lateral error at apex for shaping (m).
`<plugin>.blend_base`	`double`	`0.6`	Base blending factor for curvature tracking.
`<plugin>.blend_k_per_v`	`double`	`0.6`	Additional blending proportional to speed.
`<plugin>.corner_boost_omega`	`double`	`0.8`	Omega boost when cornering.
`<plugin>.corner_gain_eth`	`double`	`0.7`	Cornering gain for heading error.
`<plugin>.corner_gain_ey`	`double`	`1.5`	Cornering gain for lateral error.
`<plugin>.corner_gain_kappa`	`double`	`0.4`	Cornering gain for curvature error.
`<plugin>.corner_guard_enable`	`bool`	`true`	Enable cornering guard logic.
`<plugin>.corner_min_alpha`	`double`	`0.35`	Minimum blending near corners.
`<plugin>.d0_margin`	`double`	`0.30`	Base obstacle clearance margin (m).
`<plugin>.d_hard`	`double`	`0.20`	Hard-stop distance threshold (m).
`<plugin>.dist_search_radius`	`double`	`2.0`	Search radius when matching to path (m).
`<plugin>.ell`	`double`	``	Lookahead distance (m).
`<plugin>.eps`	`double`	`1e-3`	Small epsilon to avoid division by zero.
`<plugin>.final_align_k`	`double`	`2.0`	Gain used during final alignment.
`<plugin>.final_align_wmax`	`double`	`0.6`	Max angular speed during final alignment (rad/s).
`<plugin>.goal_pos_tol`	`double`	`0.05`	Goal position tolerance (m).
`<plugin>.goal_yaw_tol_deg`	`double`	`5.0`	Goal yaw tolerance (degrees).
`<plugin>.k_s`	`double`	``	Gain on progress along path (s).
`<plugin>.k_s_share_max`	`double`	`0.5`	Max share of speed from s-progress term.
`<plugin>.k_theta`	`double`	``	Heading error gain.
`<plugin>.k_y`	`double`	``	Lateral error gain.
`<plugin>.kappa_max`	`double`	`2.5`	Maximum allowed curvature (1/m).
`<plugin>.max_angular_acc`	`double`	`2.0`	Angular acceleration limit (rad/s²).
`<plugin>.max_angular_speed`	`double`	`1.5`	Angular speed limit (rad/s).
`<plugin>.max_linear_acc`	`double`	`0.8`	Linear acceleration limit (m/s²).
`<plugin>.max_linear_speed`	`double`	`0.6`	Speed limit (m/s).
`<plugin>.slow_min_speed`	`double`	`0.03`	Minimum speed within slow zone (m/s).
`<plugin>.slow_radius`	`double`	`0.60`	Radius to start slowing down near goal (m).
`<plugin>.t_emerg`	`double`	`0.25`	Emergency stop time horizon (s).
`<plugin>.tau_latency`	`double`	`0.10`	Actuation latency (s).
`<plugin>.v_progress_min`	`double`	`0.05`	Minimum forward speed to ensure progress (m/s).
`<plugin>.v_ref`	`double`	`0.6`	Nominal reference speed (m/s).

Interfaces (Topics and Services)

Subscriptions and Publications

This controller communicates through NavState (no direct ROS topics in this plugin).

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`path`	`nav_msgs::msg::Path`	Read	Reference path.
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Robot odometry.
`points`	`PointPerceptions`	Read	Obstacle point cloud(s).
`closest_obstacle_distance`	`double`	Read	Precomputed dynamic obstacle metric.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Commanded velocity.
`serest.debug.e_y`	`double/int`	Write	Debug metric

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package easynav_serest_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
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
Sync to current EasyNavigation
Translate comments
Referencing base class if ot void
Merge remote-tracking branch 'upstream/rolling' into rolling
Fix Link error in controller
Optimize execution
Cleanup unused headers
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, José Miguel Guerrero, Juan S. Cely G., Miguel, estherag

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp_lifecycle
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_core
	pluginlib
	tf2
	tf2_geometry_msgs
	tf2_ros
	geometry_msgs
	nav_msgs

System Dependencies

No direct system dependencies.

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.

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