Simple Smoother

Source code on Github.

The Simple Smoother is a Smoother Server plugin that will take in an input path and smooth it using a simple and fast smoothing technique. It weights the initial path points and the smoothed path points to create a balanced result where the path retains its high level characteristics but reduces oscillations or jagged features.

It is recommended this is paired ONLY with infeasible (e.g. 2D) planners, since this algorithm will break any kinematically feasible conditions. It is recommended users use the Constrained Smoother plugin instead with feasible plans.

Simple Smoother Parameters

tolerance:

Type	Default
double	1.0e-10

Description: Change in parameter values across path to terminate smoothing

do_refinement:

Type	Default
bool	True

Description: Whether to smooth the smoothed path recursively to refine the quality further

refinement_num:

Type	Default
int	2

Description: Number of times to recursively attempt to smooth, must be >= 1.

max_its:

Type	Default
int	1000

Description: Maximum number of iterations to attempt smoothing before termination

w_data:

Type	Default
double	0.2

Description: Weight to apply to path data given (bounds it)

w_smooth:

Type	Default
double	0.3

Description: Weight to apply to smooth the path (smooths it)

Example

smoother_server:
  ros__parameters:
    costmap_topic: global_costmap/costmap_raw
    footprint_topic: global_costmap/published_footprint
    robot_base_frame: base_link
    transform_timeout: 0.1
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      do_refinement: True
      refinement_num: 2
      max_its: 1000
      w_data: 0.2
      w_smooth: 0.3