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freeroam_planner package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

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Package Summary

Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-01
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A* freeroam planner on costmap for ackermann vehicles

Maintainers

WATonomous

Authors

No additional authors.

src/action/freeroam_planner/README.md

Freeroam Planner

ROS2 lifecycle node that generates a trajectory for autonomous free-roaming navigation using a costmap and a goal point, tracked by a pure pursuit controller.

Overview

The freeroam planner receives a costmap and a goal point, computes a drivable trajectory, and publishes it for the pure pursuit controller to track. It is managed by the WATonomous lifecycle manager alongside the pure pursuit node.

Current Status: Functional freeroam trajectory generation. Integrates with world modeling for costmap input and the ackermann pure pursuit controller for path tracking.

ROS Interface

Subscribed Topics

Topic	Remapped From	Type	Description
`costmap`	`/world_modeling/costmap`	`nav_msgs/OccupancyGrid`	Occupancy grid for obstacle-aware planning
`goal_point`	`/goal_point_stamped`	`geometry_msgs/PointStamped`	Target goal point for the planner

Published Topics

Topic	Remapped To	Type	Description
`trajectory`	`/action/freeroam_planner/trajectory`	`nav_msgs/Path`	Planned trajectory for the pure pursuit controller

Algorithm Details

A* Path Search

The planner runs A* on the occupancy grid to find the shortest collision-free path from the vehicle’s current position to the goal. Grid cells with a cost value at or above obstacle_threshold are treated as impassable. With allow_diagonal enabled, the search expands to 8-connected neighbours; otherwise only 4-connected (up, down, left, right).

Costmap Inflation

Before planning, the costmap is pre-processed to inflate all obstacle cells by inflation_radius_m_. This creates a safety buffer around obstacles so that the computed path keeps the vehicle body clear of detected hazards.

Replanning

The planner runs at a fixed rate (planning_rate_hz) and replans from the current vehicle pose on every cycle, allowing it to react to new obstacles appearing in the costmap.

Configuration

Parameters are loaded from config/params.yaml under the namespace action/freeroam_planner/freeroam_planner_node/ros__parameters.

Parameter	Type	Default	Description
`base_frame`	string	`"base_footprint"`	Robot base frame for planning
`max_speed`	double	`5.0`	Maximum speed along the trajectory (m/s)
`goal_tolerance`	double	`1.0`	Distance threshold to consider the goal reached (m)
`obstacle_threshold`	int	`50`	Minimum occupancy grid cost value considered an obstacle
`inflation_radius_m_`	double	`1.6`	Radius around obstacles to inflate as impassable (m)
`allow_diagonal`	bool	`true`	Allow diagonal moves during path search
`planning_rate_hz`	double	`2.0`	Frequency at which the planner replans (Hz)

Dependencies

ROS 2 (tested on Humble)
nav_msgs, geometry_msgs (standard message types)
wato_trajectory_msgs (custom trajectory message)

License

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_lifecycle
	nav_msgs
	geometry_msgs
	std_msgs
	tf2
	tf2_ros
	tf2_geometry_msgs
	wato_trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
action_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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