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Remove the smoother specific to smac and incorporate it to nav2_smoother #5435

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Remove the smoother specific to smac and incorporate it to nav2_smoother #5435

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6ca216c
Remove the smoother specific to smac and incorporate it to nav2_smoother
CihatAltiparmak Aug 10, 2025
075db59
Remove smoother relavant things from smac and fix out-of-bounds in te…
CihatAltiparmak Aug 10, 2025
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1 change: 0 additions & 1 deletion nav2_smac_planner/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,6 @@ add_library(${library_name}_common SHARED
src/node_basic.cpp
src/node_hybrid.cpp
src/node_lattice.cpp
src/smoother.cpp
)
# Add GenerateExportHeader support for symbol visibility, as we are using
# static members we need to explicitly export them on Windows, as
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2 changes: 0 additions & 2 deletions nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp
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Expand Up @@ -21,7 +21,6 @@
#include <mutex>

#include "nav2_smac_planner/a_star.hpp"
#include "nav2_smac_planner/smoother.hpp"
#include "nav2_smac_planner/utils.hpp"
#include "nav2_smac_planner/costmap_downsampler.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
Expand Down Expand Up @@ -100,7 +99,6 @@ class SmacPlanner2D : public nav2_core::GlobalPlanner

std::unique_ptr<AStarAlgorithm<Node2D>> _a_star;
GridCollisionChecker _collision_checker;
std::unique_ptr<Smoother> _smoother;
nav2_costmap_2d::Costmap2D * _costmap;
std::unique_ptr<CostmapDownsampler> _costmap_downsampler;
rclcpp::Clock::SharedPtr _clock;
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5 changes: 0 additions & 5 deletions nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp
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Expand Up @@ -20,7 +20,6 @@
#include <string>

#include "nav2_smac_planner/a_star.hpp"
#include "nav2_smac_planner/smoother.hpp"
#include "nav2_smac_planner/utils.hpp"
#include "nav2_smac_planner/costmap_downsampler.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
Expand Down Expand Up @@ -99,7 +98,6 @@ class SmacPlannerHybrid : public nav2_core::GlobalPlanner

std::unique_ptr<AStarAlgorithm<NodeHybrid>> _a_star;
GridCollisionChecker _collision_checker;
std::unique_ptr<Smoother> _smoother;
rclcpp::Clock::SharedPtr _clock;
rclcpp::Logger _logger{rclcpp::get_logger("SmacPlannerHybrid")};
nav2_costmap_2d::Costmap2D * _costmap;
Expand All @@ -125,11 +123,8 @@ class SmacPlannerHybrid : public nav2_core::GlobalPlanner
MotionModel _motion_model;
GoalHeadingMode _goal_heading_mode;
int _coarse_search_resolution;
nav2::Publisher<nav_msgs::msg::Path>::SharedPtr _raw_plan_publisher;
nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
_planned_footprints_publisher;
nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
_smoothed_footprints_publisher;
nav2::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr
_expansions_publisher;
std::mutex _mutex;
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5 changes: 0 additions & 5 deletions nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp
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Expand Up @@ -20,7 +20,6 @@
#include <string>

#include "nav2_smac_planner/a_star.hpp"
#include "nav2_smac_planner/smoother.hpp"
#include "nav2_smac_planner/utils.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "nav2_core/global_planner.hpp"
Expand Down Expand Up @@ -98,7 +97,6 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner

std::unique_ptr<AStarAlgorithm<NodeLattice>> _a_star;
GridCollisionChecker _collision_checker;
std::unique_ptr<Smoother> _smoother;
rclcpp::Clock::SharedPtr _clock;
rclcpp::Logger _logger{rclcpp::get_logger("SmacPlannerLattice")};
nav2_costmap_2d::Costmap2D * _costmap;
Expand All @@ -112,14 +110,11 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner
int _max_on_approach_iterations;
int _terminal_checking_interval;
float _tolerance;
nav2::Publisher<nav_msgs::msg::Path>::SharedPtr _raw_plan_publisher;
double _max_planning_time;
double _lookup_table_size;
bool _debug_visualizations;
nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
_planned_footprints_publisher;
nav2::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
_smoothed_footprints_publisher;
nav2::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr
_expansions_publisher;
GoalHeadingMode _goal_heading_mode;
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235 changes: 0 additions & 235 deletions nav2_smac_planner/include/nav2_smac_planner/smoother.hpp
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