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bitbots_global_planner package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_cargo bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_global_planner bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/bit-bots/bitbots_main.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Rust-based navigation primitives (obstacle map, visibility graph) exposed as a Python extension.

Maintainers

  • Hamburg Bit-Bots

Authors

  • Hamburg Bit-Bots
src/bitbots_navigation/bitbots_global_planner/README.md

bitbots_global_planner

A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round.

Installation

pip install .

API

It exports three classes

RoundObstacle

Represents a round obstacle with public fields center: (float, float) and radius: float. Can be created with the constructor RoundObstacle(center, radius)

ObstacleMapConfig

Represents all configuration values for how obstacles should be treated with public fields dilate: float - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and num_vertices - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor ObstacleMapConfig(dilate, num_vertices)

ObstacleMap

Represents a set of obstacles on a plane with a given config. This has two fields: config: ObstacleMapConfig and obstacles: [RoundObstacle]. Can be created with the constructor ObstacleMap(config, obstacles)

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
bitbots_cargo
ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bitbots_path_planning

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bitbots_global_planner at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package symbol

bitbots_global_planner package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_cargo bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_global_planner bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/bit-bots/bitbots_main.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Rust-based navigation primitives (obstacle map, visibility graph) exposed as a Python extension.

Maintainers

  • Hamburg Bit-Bots

Authors

  • Hamburg Bit-Bots
src/bitbots_navigation/bitbots_global_planner/README.md

bitbots_global_planner

A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round.

Installation

pip install .

API

It exports three classes

RoundObstacle

Represents a round obstacle with public fields center: (float, float) and radius: float. Can be created with the constructor RoundObstacle(center, radius)

ObstacleMapConfig

Represents all configuration values for how obstacles should be treated with public fields dilate: float - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and num_vertices - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor ObstacleMapConfig(dilate, num_vertices)

ObstacleMap

Represents a set of obstacles on a plane with a given config. This has two fields: config: ObstacleMapConfig and obstacles: [RoundObstacle]. Can be created with the constructor ObstacleMap(config, obstacles)

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
bitbots_cargo
ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bitbots_path_planning

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bitbots_global_planner at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

bitbots_global_planner package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_cargo bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_global_planner bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/bit-bots/bitbots_main.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Rust-based navigation primitives (obstacle map, visibility graph) exposed as a Python extension.

Maintainers

  • Hamburg Bit-Bots

Authors

  • Hamburg Bit-Bots
src/bitbots_navigation/bitbots_global_planner/README.md

bitbots_global_planner

A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round.

Installation

pip install .

API

It exports three classes

RoundObstacle

Represents a round obstacle with public fields center: (float, float) and radius: float. Can be created with the constructor RoundObstacle(center, radius)

ObstacleMapConfig

Represents all configuration values for how obstacles should be treated with public fields dilate: float - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and num_vertices - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor ObstacleMapConfig(dilate, num_vertices)

ObstacleMap

Represents a set of obstacles on a plane with a given config. This has two fields: config: ObstacleMapConfig and obstacles: [RoundObstacle]. Can be created with the constructor ObstacleMap(config, obstacles)

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
bitbots_cargo
ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bitbots_path_planning

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bitbots_global_planner at Robotics Stack Exchange

No version for distro lyrical showing github. Known supported distros are highlighted in the buttons above.
Package symbol

bitbots_global_planner package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_cargo bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_global_planner bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/bit-bots/bitbots_main.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Rust-based navigation primitives (obstacle map, visibility graph) exposed as a Python extension.

Maintainers

  • Hamburg Bit-Bots

Authors

  • Hamburg Bit-Bots
src/bitbots_navigation/bitbots_global_planner/README.md

bitbots_global_planner

A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round.

Installation

pip install .

API

It exports three classes

RoundObstacle

Represents a round obstacle with public fields center: (float, float) and radius: float. Can be created with the constructor RoundObstacle(center, radius)

ObstacleMapConfig

Represents all configuration values for how obstacles should be treated with public fields dilate: float - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and num_vertices - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor ObstacleMapConfig(dilate, num_vertices)

ObstacleMap

Represents a set of obstacles on a plane with a given config. This has two fields: config: ObstacleMapConfig and obstacles: [RoundObstacle]. Can be created with the constructor ObstacleMap(config, obstacles)

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
bitbots_cargo
ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bitbots_path_planning

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bitbots_global_planner at Robotics Stack Exchange

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

bitbots_global_planner package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_cargo bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_global_planner bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/bit-bots/bitbots_main.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Rust-based navigation primitives (obstacle map, visibility graph) exposed as a Python extension.

Maintainers

  • Hamburg Bit-Bots

Authors

  • Hamburg Bit-Bots
src/bitbots_navigation/bitbots_global_planner/README.md

bitbots_global_planner

A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round.

Installation

pip install .

API

It exports three classes

RoundObstacle

Represents a round obstacle with public fields center: (float, float) and radius: float. Can be created with the constructor RoundObstacle(center, radius)

ObstacleMapConfig

Represents all configuration values for how obstacles should be treated with public fields dilate: float - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and num_vertices - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor ObstacleMapConfig(dilate, num_vertices)

ObstacleMap

Represents a set of obstacles on a plane with a given config. This has two fields: config: ObstacleMapConfig and obstacles: [RoundObstacle]. Can be created with the constructor ObstacleMap(config, obstacles)

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
bitbots_cargo
ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bitbots_path_planning

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bitbots_global_planner at Robotics Stack Exchange

Package symbol

bitbots_global_planner package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_cargo bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_global_planner bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/bit-bots/bitbots_main.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Rust-based navigation primitives (obstacle map, visibility graph) exposed as a Python extension.

Maintainers

  • Hamburg Bit-Bots

Authors

  • Hamburg Bit-Bots
src/bitbots_navigation/bitbots_global_planner/README.md

bitbots_global_planner

A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round.

Installation

pip install .

API

It exports three classes

RoundObstacle

Represents a round obstacle with public fields center: (float, float) and radius: float. Can be created with the constructor RoundObstacle(center, radius)

ObstacleMapConfig

Represents all configuration values for how obstacles should be treated with public fields dilate: float - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and num_vertices - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor ObstacleMapConfig(dilate, num_vertices)

ObstacleMap

Represents a set of obstacles on a plane with a given config. This has two fields: config: ObstacleMapConfig and obstacles: [RoundObstacle]. Can be created with the constructor ObstacleMap(config, obstacles)

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
bitbots_cargo
ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bitbots_path_planning

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bitbots_global_planner at Robotics Stack Exchange

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

bitbots_global_planner package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_cargo bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_global_planner bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/bit-bots/bitbots_main.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Rust-based navigation primitives (obstacle map, visibility graph) exposed as a Python extension.

Maintainers

  • Hamburg Bit-Bots

Authors

  • Hamburg Bit-Bots
src/bitbots_navigation/bitbots_global_planner/README.md

bitbots_global_planner

A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round.

Installation

pip install .

API

It exports three classes

RoundObstacle

Represents a round obstacle with public fields center: (float, float) and radius: float. Can be created with the constructor RoundObstacle(center, radius)

ObstacleMapConfig

Represents all configuration values for how obstacles should be treated with public fields dilate: float - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and num_vertices - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor ObstacleMapConfig(dilate, num_vertices)

ObstacleMap

Represents a set of obstacles on a plane with a given config. This has two fields: config: ObstacleMapConfig and obstacles: [RoundObstacle]. Can be created with the constructor ObstacleMap(config, obstacles)

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
bitbots_cargo
ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bitbots_path_planning

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bitbots_global_planner at Robotics Stack Exchange

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bitbots_global_planner package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_cargo bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_global_planner bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/bit-bots/bitbots_main.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Rust-based navigation primitives (obstacle map, visibility graph) exposed as a Python extension.

Maintainers

  • Hamburg Bit-Bots

Authors

  • Hamburg Bit-Bots
src/bitbots_navigation/bitbots_global_planner/README.md

bitbots_global_planner

A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round.

Installation

pip install .

API

It exports three classes

RoundObstacle

Represents a round obstacle with public fields center: (float, float) and radius: float. Can be created with the constructor RoundObstacle(center, radius)

ObstacleMapConfig

Represents all configuration values for how obstacles should be treated with public fields dilate: float - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and num_vertices - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor ObstacleMapConfig(dilate, num_vertices)

ObstacleMap

Represents a set of obstacles on a plane with a given config. This has two fields: config: ObstacleMapConfig and obstacles: [RoundObstacle]. Can be created with the constructor ObstacleMap(config, obstacles)

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
bitbots_cargo
ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bitbots_path_planning

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bitbots_global_planner at Robotics Stack Exchange

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

bitbots_global_planner package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_cargo bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_global_planner bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/bit-bots/bitbots_main.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Rust-based navigation primitives (obstacle map, visibility graph) exposed as a Python extension.

Maintainers

  • Hamburg Bit-Bots

Authors

  • Hamburg Bit-Bots
src/bitbots_navigation/bitbots_global_planner/README.md

bitbots_global_planner

A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round.

Installation

pip install .

API

It exports three classes

RoundObstacle

Represents a round obstacle with public fields center: (float, float) and radius: float. Can be created with the constructor RoundObstacle(center, radius)

ObstacleMapConfig

Represents all configuration values for how obstacles should be treated with public fields dilate: float - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and num_vertices - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor ObstacleMapConfig(dilate, num_vertices)

ObstacleMap

Represents a set of obstacles on a plane with a given config. This has two fields: config: ObstacleMapConfig and obstacles: [RoundObstacle]. Can be created with the constructor ObstacleMap(config, obstacles)

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
bitbots_cargo
ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bitbots_path_planning

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bitbots_global_planner at Robotics Stack Exchange

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

bitbots_global_planner package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_cargo bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_global_planner bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/bit-bots/bitbots_main.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Rust-based navigation primitives (obstacle map, visibility graph) exposed as a Python extension.

Maintainers

  • Hamburg Bit-Bots

Authors

  • Hamburg Bit-Bots
src/bitbots_navigation/bitbots_global_planner/README.md

bitbots_global_planner

A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round.

Installation

pip install .

API

It exports three classes

RoundObstacle

Represents a round obstacle with public fields center: (float, float) and radius: float. Can be created with the constructor RoundObstacle(center, radius)

ObstacleMapConfig

Represents all configuration values for how obstacles should be treated with public fields dilate: float - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and num_vertices - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor ObstacleMapConfig(dilate, num_vertices)

ObstacleMap

Represents a set of obstacles on a plane with a given config. This has two fields: config: ObstacleMapConfig and obstacles: [RoundObstacle]. Can be created with the constructor ObstacleMap(config, obstacles)

CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
bitbots_cargo
ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
bitbots_path_planning

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bitbots_global_planner at Robotics Stack Exchange