TEB Controller

Module Role¶

planning/navigation/venom_teb_controller is the current 2D local trajectory optimization and controller submodule.

It provides a Nav2 controller plugin instead of a standalone robot bringup entry:

Item	Current Value
Submodule path	`planning/navigation/venom_teb_controller`
Controller package	`teb_local_planner`
Message package	`teb_msgs`
Plugin type	`teb_local_planner::TebLocalPlannerROS`
Plugin declaration	`planning/navigation/venom_teb_controller/venom_teb_controller/teb_local_planner_plugin.xml`
Default params	`venom_teb_controller/params/teb_params.yaml`

In the VNV structure, this belongs to planning/navigation/. It handles local path tracking, obstacle avoidance, and trajectory optimization. It does not own waypoint dispatch, behavior trees, or mission logic.

Nav2 Integration¶

The package exports a Nav2 controller plugin through package.xml:

<nav2_core plugin="${prefix}/teb_local_planner_plugin.xml" />

The plugin type declared in XML is:

teb_local_planner::TebLocalPlannerROS

Use it by loading the plugin from Nav2 controller_server parameters, not as a standalone launch entry.

Interfaces¶

Direction	Interface	Notes
Input	Nav2 global path	passed into controller server by the Nav2 planning / BT flow
Input	`/odom`	default `odom_topic` in the current params
Input	costmap	provided by Nav2 controller server
Output	`cmd_vel`	published by Nav2 controller server
Output	TEB feedback / visualization	controlled by parameters such as `publish_feedback`

Current Launch Status¶

This submodule currently provides no standalone .launch.py file. The correct integration path is:

add the TEB plugin parameters to the Nav2 controller_server
make sure teb_local_planner and teb_msgs are built
start Nav2 from the upper-level bringup and let Nav2 load the controller plugin

Key Parameters¶

Parameter	Purpose	Default
`controller_frequency`	Nav2 controller update rate in Hz.	`5.0`
`odom_topic`	Odometry topic used by the controller.	`/odom`
`controller_plugins`	Loaded controller plugin instance names.	`["FollowPath"]`
`controller_plugin_types`	Controller plugin type list.	`["teb_local_planner::TebLocalPlannerROS"]`
`dt_ref`	Target temporal distance between trajectory samples.	`0.3`
`max_global_plan_lookahead_dist`	Maximum global-plan lookahead distance in meters.	`3.0`
`max_vel_x`	Maximum forward velocity in m/s.	`0.26`
`max_vel_theta`	Maximum yaw velocity in rad/s.	`1.0`
`acc_lim_x`	Linear acceleration limit in m/s².	`2.5`
`acc_lim_theta`	Angular acceleration limit in rad/s².	`3.2`
`footprint_model.type`	Robot footprint model type.	`"circular"`
`footprint_model.radius`	Circular footprint radius in meters.	`0.17`
`min_obstacle_dist`	Desired minimum obstacle distance in meters.	`0.27`
`inflation_dist`	Obstacle inflation influence distance in meters.	`0.6`
`include_costmap_obstacles`	Whether costmap obstacles are included.	`True`
`enable_homotopy_class_planning`	Whether to evaluate multiple homotopy classes.	`True`
`max_number_classes`	Maximum number of homotopy candidates.	`4`
`optimization_activate`	Whether trajectory optimization is active.	`True`
`weight_obstacle`	Obstacle-distance cost weight.	`100.0`
`weight_viapoint`	Weight for following global-plan via-points.	`50.0`

Boundary¶

venom_teb_controller is loaded as a Nav2 controller plugin
mission goals belong under mission/navigation/
maps, costmaps, and footprints are owned by Nav2 parameters and robot description
if costmap_converter_plugin is enabled, the runtime environment must provide that plugin; otherwise disable or replace it in the active Nav2 params