⚾D.6 NavFn Planner

Navfn Planner သည် Dijkstra or A* ကို အသုံးပြုတဲ့ path planning algorithm တစ်ခုပဲဖြစ်ပြီး default planner လည်းဖြစ်ပါတယ်။

Parameters	Description	Type	Default
<name>.tolerance	Tolerance in meters between requested goal pose and end of path.	double	0.5
<name>.use_astar	A*အသုံးပြုရန်၊ False ဆိုရင် Dijkstra's expansionကိုသုံးရန်	bool	FALSE
<name>.allow_unknown	unknown spaceတွေမှာ planning လုပ်ဖို့ခွင့်ပြုတယ်။	bool	TRUE
<name>.use_final_ approach_orientation	If true, the last pose of the path generated by the planner will have its orientation set to the approach orientation, i.e. the orientation of the vector connecting the last two points of the path	bool	FALSE

နမူနာ

planner_server:
  ros__parameters:
    planner_plugins: ['GridBased']
    GridBased:
      plugin: 'nav2_navfn_planner/NavfnPlanner'
      use_astar: True
      allow_unknown: True
      tolerance: 1.0