ros_motion_planning

Software
Navigation and mapping
Framework

A ROS package implementing common motion planning algorithms for robots, covering global path searching, local planning and curve generation, with a Gazebo simulation environment.

Source on GitHub: github.com/ai-winter/ros_motion_planning (opens in a new tab). Facts read at commit a6f21b0 (opens in a new tab).

Licenses

Code: GPL-3.0-only (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (GPL-3.0-only) at commit a6f21b0 (opens in a new tab), on 22 Oct 2026.
Commercial use: Yes

Copyleft: Modified source must be published.

What it does

Provides many global path planners, such as A*, Dijkstra, D* Lite, RRT variants, and evolutionary methods like ACO, GA and PSO.
Includes local planners such as PID, LQR, DWA, APF, RPP and MPC for trajectory following and obstacle avoidance.
Offers curve generation methods including Bezier, cubic spline, B-spline, Dubins and Reeds-Shepp curves.
Ships a simulation environment with robot models, maps and worlds, and a script that generates launch files from a user configuration file.
Supports multi-agent setups and includes a goal publisher script for sending navigation goals.
Python and MATLAB versions of the same algorithms are also provided by the authors.

Written by Robotheca from the project's README (opens in a new tab) at commit a6f21b0.

Getting started

Difficulty: Advanced
How to start: The project's README (opens in a new tab)

Maintenance

Status: Maintained: a commit in the last 12 months
Newest commit: 28 Mar 2026 on dev
Latest release: None published on GitHub

Checked on GitHub on 22 Oct 2026.

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.