neupan_ros

This is the ROS wrapper for NeuPAN Planner.

Prerequisites

• Ubuntu 20.04
• ROS Noetic
• Python >= 3.10
• Installed NeuPAN Planner.

Note

If you want to use python3.8 to run this project without virtual environment, you can install the py38 branch of NeuPAN Planner: https://github.com/hanruihua/NeuPAN/tree/py38

Installation

mkdir -p ~/neupan_ws/src
cd ~/neupan_ws/src
git clone https://github.com/hanruihua/neupan_ros
cd ~/neupan_ws && catkin_make
cd ~/neupan_ws/src/neupan_ros 
sh source_setup.sh && source ~/neupan_ws/devel/setup.sh && rosdep install neupan_ros 

Demonstration

Dynamic collision avoidance

We provide the dynamic collision avoidance examples in Gazebo shown as follows. To run these examples, please see example/gazebo_limo for detail.

gazebo_limo_4x.mp4

Node API

Publish Topics

Topic Name	Message Type	Description
/neupan_cmd_vel	geometry_msgs/Twist	The velocity command to the robot.
/neupan_plan	nav_msgs/Path	The NeuPAN planned path.
/neupan_initial_path	nav_msgs/Path	The initial path for NeuPAN visualization.
/neupan_ref_state	nav_msgs/Path	The current reference state visualization.
/dune_point_markers	visualization_msgs/MarkerArray	The DUNE points markers visualization.
/nrmp_point_markers	visualization_msgs/MarkerArray	The NRMP points markers visualization.
/robot_marker	visualization_msgs/Marker	The robot marker visualization.

Subscribe Topics

Topic Name	Message Type	Description
/scan	sensor_msgs/LaserScan	The laser scan data.
/initial_path	nav_msgs/Path	The initial path for NeuPAN.
/neupan_goal	geometry_msgs/PoseStamped	The goal for NeuPAN. You can publish the goal to this topic to give the NeuPAN planner a new goal.

ROS Parameters

Parameter Name	Type / Default Value	Description
~config_file	str / None	The path of the NeuPAN config YAML file.
~map_frame	str / map	The map frame name.
~base_frame	str / base_link	The base frame name.
~lidar_frame	str / laser_link	The lidar frame name.
~marker_size	float / 0.05	The marker size to show the DUNE points and NRMP points.
~marker_z	float / 1.0	The marker z to show the height of the robot.
~scan_angle_range	str / -3.14 3.14	The angle range of the laser scan.
~scan_downsample	int / 1	The downsample rate of the laser scan.
~scan_range	str / 0.0, 5.0	The distance range of the laser scan.
~dune_checkpoint	str / None	The path of the DUNE checkpoint file.
~refresh_initial_path	bool / False	Whether to refresh the initial path.
~flip_angle	bool / False	Whether to flip the angle of the scan data.
~include_initial_path_direction	bool / False	Whether to set the initial path direction from the given path. If False, the points gradient will be used as the initial path direction.

License

This project is licensed under the GNU General Public License v3.0.

Citation

If you find this code or paper is helpful, please kindly star ⭐ this repository and cite our paper by the following BibTeX entry:

@ARTICLE{10938329,
  author={Han, Ruihua and Wang, Shuai and Wang, Shuaijun and Zhang, Zeqing and Chen, Jianjun and Lin, Shijie and Li, Chengyang and Xu, Chengzhong and Eldar, Yonina C. and Hao, Qi and Pan, Jia},
  journal={IEEE Transactions on Robotics}, 
  title={NeuPAN: Direct Point Robot Navigation With End-to-End Model-Based Learning}, 
  year={2025},
  volume={41},
  number={},
  pages={2804-2824},
  doi={10.1109/TRO.2025.3554252}}