Planner

The Planner mode lets you design robot missions and compute planned paths directly in the browser, using the same algorithms as the replan CLI tool.

Workflow

Switch to PLANNER using the tab in the top-right corner.
Click on the map to place waypoints. Drag any waypoint to adjust it. With Start at robot ticked the first waypoint is the robot itself, so you only click the goals.
Select a planning mode and configure parameters in the sidebar.
Click Replan Path to compute the path between the placed waypoints.
Download the result as a GPX file or send it directly to the robot via Wormhole.

Import / Export

Button	Description
Import GPX	Load an existing GPX track as the initial set of waypoints.
Download	Export the planned path as a `.gpx` file.
Wormhole	Send the planned path directly to the robot over the network.
Delete All	Remove all placed waypoints.
Keep Endpoints	Remove intermediate waypoints, keeping only start and end.
Start at robot	Pin the first waypoint to the robot's live position and plan from there.

Start at robot

The toggle needs a robot position, so it stays disabled until the tracker reports one (it needs no Tracker tab — the telemetry arrives in every mode, and the toggle works with the Robot layer switched off). While it is on, waypoint 0 follows the robot and Replan Path refreshes it first, so the route is planned from where the robot is at that moment. A planned path is left alone — its first pose is a result, not a waypoint — until the next replan re-pins it. Switching the toggle off leaves the waypoint behind as an ordinary one.

Planning Mode

Mode	Description
All terrain — A*	Grid-based A* that finds the optimal path while avoiding OSM barriers and manual annotations. Recommended for most use cases.
All terrain — RRT*	Sampling-based planner. Faster in large open areas; converges to optimal asymptotically.
Paths only	Constrains the route to the OSM road and footway network, including manually annotated paths. Produces clean, on-path results but cannot leave designated ways.

Path priority

Both OSM ways and manually annotated paths take priority over obstacles. A path that physically overlaps a barrier polygon is still considered traversable — the planner will route through it. This lets you tunnel an annotated path through an OSM barrier (e.g. a gate through a fence) without modifying the underlying map data.

Routing Options

Plan on Footways — include pedestrian footways as traversable ways (enabled by default).
Plan on Roads — include vehicle roads as traversable ways.

Planner Parameters

Parameter	Default	Description
Cell Size (m)	`0.25`	Grid resolution for all-terrain planning. Smaller values give smoother paths at higher computation cost.
Obstacle Inflation (m)	`0.25`	Safety buffer added around barrier polygons.
Simplify Path	on	Remove redundant intermediate waypoints from the result.
Smooth Path	off	Apply spline smoothing to the planned path.
Show Cost Grid	off	Overlay the traversal cost grid on the map for debugging. Memory intensive on larger areas.

Highway Costs

The Highway Costs button opens a pop-up window where you can assign a base traversal cost (0.0 = free, 1.0 = obstacle) to each OSM highway type and an extra penalty per surface material. These costs influence which ways are preferred during all-terrain planning (do not apply to paths only).

Traversability Rules

The Traversability Rules button opens config/traversability.yaml (see Traversability rules) in an editor. Apply checks the rules and uses them for Paths only planning in this browser tab. Save to file also writes them to the file, comments included. route_planner picks up the saved file on its next goal; osm_cloud reads it only at startup, so restart it after saving. Reload from file throws away the edits.

Show only plannable ways hides the ways that Paths only will not route over: ways the rules refuse, stairs, and roads or footways whose checkbox is off. The ways come back when you leave the planner or clear the checkbox.