Open Navigation's Nav2 Complete Coverage is a ROS 2 application providing complete coverage path planning for agricultural and field operations. It integrates the Fields2Cover library with Nav2's behavior tree framework to compute optimal coverage paths from field polygons or pre-defined rows. The system consists of modular packages: coverage servers for open fields and row-based scenarios, message definitions, behavior tree nodes, a BT Navigator plugin, and demonstration tools. Key architectural features include a polymorphic route planner abstraction that unifies different routing algorithms, sophisticated coordinate transformation utilities, and lifecycle-compliant action servers that expose coverage planning as Nav2-compatible tasks. The application handles headland removal, field decomposition, swath generation, route ordering, and path generation with extensive configurability through action goals and dynamic parameters.
This repository implements FAR Planner (Fast, Attemptable Route Planner using Dynamic Visibility Update), a robotic navigation system designed for subterranean environments. It builds and dynamically updates a visibility graph from LiDAR point cloud data to enable fast replanning in static and dynamic environments. The system uses a modular ROS architecture with separate components for contour detection, graph management, path planning, terrain handling, and sensor processing. Key features include dual-threaded operation (graph update and path search), RViz visualization, teleoperation capabilities, and integration with custom ROS message types for graph communication. The code was field-tested by the CMU-OSU Team in the DARPA Subterranean Challenge, where it won the 'Most Sectors Explored Award'.