gmoustri/dwal_planner

How gmoustri/dwal_planner works

DWAL Planner is a ROS 2 motion-cluster generator. Odometry and an occupancy grid feed trajectory sampling: admissible curved paths are simulated against the costmap, then published as sampled paths and markers. A clustering node groups free paths by configured level and publishes cluster groups and visualizations; it also supports level toggles and directional slicing. The graph distinguishes the trajectory-generation library from its ROS orchestration. Generator-to-clustering transport is documented in the README; source excerpts show costmap conversion, sampling, and clustering behavior. Service wiring is documented but not visible in the excerpts.

Main entry points: trajectory_generator.cpp Generator Node · clustering.cpp Level Clustering · libdwal_cluster.h Costmap Adapter · libdwal_cluster.cpp Trajectory Sampler

Components 15

Trajectory Generation

Generator Node src/trajectory_generator.cpp
Costmap Adapter include/dwal_planner/libdwal_cluster.h
Trajectory Sampler src/libdwal_cluster.cpp

Path Clustering

Clustering Node src/clustering.cpp
Level Clustering src/clustering.cpp
Directional Slicing src/clustering.cpp

ROS Interfaces

Sampled Paths msg/SampledCluster.msg
Path Markers src/trajectory_generator.cpp
Motion Clusters msg/ClusterGroup.msg
Cluster Markers src/clustering.cpp
Level Toggle srv/ToggleClusters.srv
Slice Toggle srv/ToggleSlice.srv

Other components

Robot Odometry
Occupancy Grid
Service Caller

Connections 16

Robot Odometry → Generator Node: supplies odometry src/trajectory_generator.cpp
Occupancy Grid → Costmap Adapter: updates grid include/dwal_planner/libdwal_cluster.h
Generator Node → Costmap Adapter: subscribes via src/trajectory_generator.cpp
Generator Node → Trajectory Sampler: initializes and samples src/trajectory_generator.cpp
Trajectory Sampler → Costmap Adapter: checks collisions src/libdwal_cluster.cpp
Generator Node → Sampled Paths: publishes paths src/trajectory_generator.cpp
Generator Node → Path Markers: publishes markers src/trajectory_generator.cpp
Sampled Paths → Clustering Node: delivers path bundle README.md
Clustering Node → Level Clustering: runs per level src/clustering.cpp
Level Clustering → Motion Clusters: publishes groups src/clustering.cpp
Level Clustering → Cluster Markers: publishes visualization src/clustering.cpp
Level Clustering → Directional Slicing: applies slicing src/clustering.cpp
Service Caller → Level Toggle: requests toggle README.md
Service Caller → Slice Toggle: requests toggle README.md
Level Toggle → Clustering Node: controls levels README.md
Slice Toggle → Directional Slicing: controls slicing README.md

Drawn by GitDiagram on November 12, 2026 from the repository's file tree, README and source files. Read as Markdown ·