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TODO: move this information into the node code, as Doxygen comments. Change links to this page to point to the autogenerated node docs. Delete this page.

wavefront player

The wavefront_player node provides global planning and local control of a laser-equipped robot moving in 2-D, given a map.

Theory of operation

Under the hood, we're using the wavefront driver from Player. It implements the standard wavefront algorithm, using dynamic programming to find the lowest cost path on a grid. The robot is assumed to be circular.


Subscribes to:

Uses RPC services:

Publishes to:


Local name, type, and semantics of each parameter

Desired feature set

  • Details of required operation
  • Hardware considerations
  • Update rates, modes of operation
  • Error conditions to be detected, recovery behavior

Development Milestones

First milestone

  • done (date)

Second milestone

  • Needed to test Alphas by July 7


2020-02-22 13:23