Add Planner Modes for SmacPlanner2D

[2006wu]

Description

Currently, the global planner uses SmacPlanner2D.

Add three planner modes with different sensitivities to Costmap costs:

• Conservative — prefers larger obstacle clearance and free-space center.
• Normal — balances path length and obstacle clearance.
• Aggressive — allows paths closer to soft-cost / inflation areas for shorter paths.

Implementation

Configure three SmacPlanner2D plugins with different parameters in the Nav2 parameter file.

planner_server
├── ConservativePlanner  → High cost sensitivity or larger distance from cost regions
├── NormalPlanner        → Default cost sensitivity
└── AggressivePlanner    → Low cost sensitivity or closer to cost regions

Tasks

• Configure ConservativePlanner, NormalPlanner, and AggressivePlanner
• Tune and compare the cost sensitivity of each mode, or modify the planner code if necessary
• Test all three planners in simulation/local environment
• Check if everything works correctly locally
• If everything works fine, update the parameters on the machines:
• src/navigation2_run/params/nav2_params_11.yaml
• src/navigation2_run/params/nav2_params_13.yaml
• Test all planner modes on the actual machines
• Update the README with planner mode usage and configuration