X-lanni
12 lines
838 B
Markdown
12 lines
838 B
Markdown
# Nav2 Smoother
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The Nav2 smoother is a Task Server in Nav2 that implements the `nav2_behavior_tree::SmoothPath` interface.
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A smoothing module implementing the `nav2_behavior_tree::SmoothPath` interface is responsible for improving path smoothness and/or quality, typically given an unsmoothed path from the planner module in `nav2_planner`. It loads a map of potential smoother plugins to do the path smoothing in different user-defined situations.
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See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available smoother plugins.
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See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-smoother-server.html) for additional parameter descriptions.
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This package contains the Simple Smoother and Savitzky-Golay Smoother plugins.
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