Planning
Overview of navigation planners, controllers, and manipulation motion planning modules.
Layer Role
The planning layer is responsible for:
- generating paths or trajectories from goals, maps, and robot state
- local obstacle avoidance
- motion feasibility and trajectory shaping
- generating motion plans for manipulation tasks such as grasp execution
It is not responsible for:
- raw hardware access
- pure localization estimation
- waypoint logic, behavior trees, or task dispatch
Recommended Directory Name
planning/
Modules such as ego_planner, TEB, custom Nav2 controllers, and MoveIt grasp planning should live here.
Current Status
The main workspace now contains a committed planning/ directory with placeholder navigation/ and manipulation/ subfolders.
Current Layout Pattern
planning/
├── navigation/
│ ├── venom_eagle_planner/
│ ├── venom_teb_controller/
│ └── venom_nav_controller_xxx/
└── manipulation/
└── venom_moveit_grasp/
Boundary With The Mission Layer
planning/answers “how to move”mission/answers “when to dispatch goals, switch tasks, and advance flows”
Those concerns should stay separated.