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easynav_simple_controller package from easynav_plugins repo

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ROS Distro
jazzy

API Docs
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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: Simple Controller package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

controllers/easynav_simple_controller/README.md

easynav_simple_controller

Description

Simple path-following controller that uses PID controllers and a look-ahead reference pose to follow a planned path. It produces velocity commands (cmd_vel) based on the reference pose sampled at a look-ahead distance and limits linear/angular speeds and accelerations.

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_simple_controller/SimpleController
Type: easynav::SimpleController
Base Class: easynav::ControllerMethodBase
Library: easynav_simple_controller
Description: Path-following controller using PID (linear and angular) and a look-ahead strategy.

Parameters

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

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
`max_linear_speed`	`double`	`1.0`	Maximum linear speed (m/s).
`max_angular_speed`	`double`	`1.0`	Maximum angular speed (rad/s).
`max_linear_acc`	`double`	`0.3`	Maximum linear acceleration (m/s²).
`max_angular_acc`	`double`	`0.3`	Maximum angular acceleration (rad/s²).
`look_ahead_dist`	`double`	`1.0`	Look-ahead distance to sample the reference pose on the path (m).
`tolerance_dist`	`double`	`0.05`	Distance threshold to switch to pure orientation tracking (m).
`final_goal_angle_tolerance`	`double`	`0.1`	Angular tolerance (rad) used to decide final-goal arrival.
`k_rot`	`double`	`0.5`	Gain used to reduce linear speed based on angular velocity (higher: stronger reduction while turning).
`linear_kp`	`double`	`0.95`	Proportional gain for the linear PID controller.
`linear_ki`	`double`	`0.03`	Integral gain for the linear PID controller.
`linear_kd`	`double`	`0.08`	Derivative gain for the linear PID controller.
`angular_kp`	`double`	`1.5`	Proportional gain for the angular PID controller.
`angular_ki`	`double`	`0.03`	Integral gain for the angular PID controller.
`angular_kd`	`double`	`0.08`	Derivative gain for the angular PID controller.

Interfaces (NavState, Topics and Services)

NavState

This controller uses the shared NavState bag provided by the easynav_core framework. The following keys are used at runtime by SimpleController:

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Read	Current robot odometry used to compute the robot pose and yaw.
`path`	`nav_msgs::msg::Path`	Read	Planned path to follow. The controller samples a reference pose at `look_ahead_dist` along this path.
`cmd_vel`	`geometry_msgs::msg::TwistStamped`	Write	Output velocity command. Header.frame_id is set to `path.header.frame_id` when available and stamp to the controller node clock.

Topics / Services

The controller itself does not create ROS publishers/subscribers or service servers. It interacts via the NavState abstraction; how NavState is exposed (topics or other IPC mechanisms) depends on the integrating node.

TF Frames

This controller reads pose from nav_msgs/Odometry (NavState key robot_pose). TF is not directly used in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_controller

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, 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
	easynav_simple_common
	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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