Nav2 default-parameter changelog (demo)
· 5a8cbd3 · 1 watched files, +85/−43

Thresholds changed: controller_server.FollowPath.transform_tolerance 0.2→0.1, velocity_smoother.max_velocity[0] 0.26→0.5, velocity_smoother.max_velocity[2] 1.0→2.0 and 2 more.

paramsthresholdsvelocity/acceleration limits
  • Threshold defaults changed: controller_server.FollowPath.transform_tolerance: 0.2 → 0.1 (−50%) (in nav2_bringup/params/nav2_params.yaml).
  • Velocity/acceleration limit defaults changed: velocity_smoother.max_velocity[0]: 0.26 → 0.5 (+92.3%) (in nav2_bringup/params/nav2_params.yaml), velocity_smoother.max_velocity[2]: 1.0 → 2.0 (+100%) (in nav2_bringup/params/nav2_params.yaml), velocity_smoother.min_velocity[0]: -0.26 → -0.5 (−92.3%) (in nav2_bringup/params/nav2_params.yaml) and velocity_smoother.min_velocity[2]: -1.0 → -2.0 (−100%) (in nav2_bringup/params/nav2_params.yaml).
  • Parameter defaults changed: controller_server.FollowPath.critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] → ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] (in nav2_bringup/params/nav2_params.yaml) and controller_server.FollowPath.plugin: "dwb_core::DWBLocalPlanner" → "nav2_mppi_controller::MPPIController" (in nav2_bringup/params/nav2_params.yaml).
  • 32 parameters no longer defined in the changed file(s) but still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml (moved, not deleted): controller_server.FollowPath.BaseObstacle.scale, controller_server.FollowPath.GoalAlign.scale, controller_server.FollowPath.GoalDist.scale, controller_server.FollowPath.PathAlign.scale, controller_server.FollowPath.PathDist.scale, controller_server.FollowPath.RotateToGoal.lookahead_time, controller_server.FollowPath.RotateToGoal.scale, controller_server.FollowPath.RotateToGoal.slowing_factor and 24 more.
  • 3 parameters no longer defined in the changed file(s) but still defined in nav2_bringup/params/nav2_multirobot_params_all.yaml (moved, not deleted): controller_server.FollowPath.GoalAlign.forward_point_distance, controller_server.FollowPath.PathAlign.forward_point_distance and controller_server.FollowPath.xy_goal_tolerance.
  • Added 12 flags: controller_server.FollowPath.ConstraintCritic.enabled (default on), controller_server.FollowPath.CostCritic.consider_footprint (default on), controller_server.FollowPath.CostCritic.enabled (default on), controller_server.FollowPath.GoalAngleCritic.enabled (default on), controller_server.FollowPath.GoalCritic.enabled (default on), controller_server.FollowPath.PathAlignCritic.enabled (default on), controller_server.FollowPath.PathAlignCritic.use_path_orientations (default off), controller_server.FollowPath.PathAngleCritic.enabled (default on) and 4 more.
  • Added 51 parameters: controller_server.FollowPath.AckermannConstraints.min_turning_r = 0.2, controller_server.FollowPath.ConstraintCritic.cost_power = 1, controller_server.FollowPath.ConstraintCritic.cost_weight = 4.0, controller_server.FollowPath.CostCritic.collision_cost = 1000000.0, controller_server.FollowPath.CostCritic.cost_power = 1, controller_server.FollowPath.CostCritic.cost_weight = 3.81, controller_server.FollowPath.CostCritic.critical_cost = 300.0, controller_server.FollowPath.CostCritic.near_goal_distance = 1.0 and 43 more.
  • Most activity in nav2_bringup/ (+85/−43).

Full analysis → Summary: automatic analysis

Changed values

NameOldNewChangeFileExtractor
controller_server.FollowPath.critics["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]nav2_bringup/params/nav2_params.yamlros2_yaml
controller_server.FollowPath.plugin"dwb_core::DWBLocalPlanner""nav2_mppi_controller::MPPIController"nav2_bringup/params/nav2_params.yamlros2_yaml
controller_server.FollowPath.transform_tolerance0.20.1−50%nav2_bringup/params/nav2_params.yamlros2_yaml
velocity_smoother.max_velocity[0]0.260.5+92.3%nav2_bringup/params/nav2_params.yamlros2_yaml
velocity_smoother.max_velocity[2]1.02.0+100%nav2_bringup/params/nav2_params.yamlros2_yaml
velocity_smoother.min_velocity[0]-0.26-0.5−92.3%nav2_bringup/params/nav2_params.yamlros2_yaml
velocity_smoother.min_velocity[2]-1.0-2.0−100%nav2_bringup/params/nav2_params.yamlros2_yaml

Added (63)

NameValueTypeFile
controller_server.FollowPath.AckermannConstraints.min_turning_r0.2numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.ConstraintCritic.cost_power1numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.ConstraintCritic.cost_weight4.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.ConstraintCritic.enabledtrueboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.CostCritic.collision_cost1000000.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.CostCritic.consider_footprinttrueboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.CostCritic.cost_power1numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.CostCritic.cost_weight3.81numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.CostCritic.critical_cost300.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.CostCritic.enabledtrueboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.CostCritic.near_goal_distance1.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.CostCritic.trajectory_point_step2numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.GoalAngleCritic.cost_power1numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.GoalAngleCritic.cost_weight3.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.GoalAngleCritic.enabledtrueboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.GoalAngleCritic.threshold_to_consider0.5numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.GoalCritic.cost_power1numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.GoalCritic.cost_weight5.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.GoalCritic.enabledtrueboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.GoalCritic.threshold_to_consider1.4numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAlignCritic.cost_power1numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAlignCritic.cost_weight14.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAlignCritic.enabledtrueboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAlignCritic.max_path_occupancy_ratio0.05numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAlignCritic.offset_from_furthest20numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAlignCritic.threshold_to_consider0.5numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAlignCritic.trajectory_point_step4numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAlignCritic.use_path_orientationsfalseboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAngleCritic.cost_power1numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAngleCritic.cost_weight2.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAngleCritic.enabledtrueboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAngleCritic.max_angle_to_furthest1.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAngleCritic.mode0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAngleCritic.offset_from_furthest4numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathAngleCritic.threshold_to_consider0.5numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathFollowCritic.cost_power1numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathFollowCritic.cost_weight5.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathFollowCritic.enabledtrueboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathFollowCritic.offset_from_furthest5numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PathFollowCritic.threshold_to_consider1.4numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PreferForwardCritic.cost_power1numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PreferForwardCritic.cost_weight5.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PreferForwardCritic.enabledtrueboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.PreferForwardCritic.threshold_to_consider0.5numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.TrajectoryVisualizer.time_step3numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.TrajectoryVisualizer.trajectory_step5numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.batch_size2000numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.gamma0.015numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.iteration_count1numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.model_dt0.05numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.motion_model"DiffDrive"stringnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.prune_distance1.7numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.regenerate_noisestrueboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.temperature0.3numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.time_steps56numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.visualizetrueboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.vx_max0.5numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.vx_min-0.35numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.vx_std0.2numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.vy_max0.5numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.vy_std0.2numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.wz_max1.9numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.wz_std0.4numbernav2_bringup/params/nav2_params.yaml

Removed (35)

Show removed values
NameLast valueNote
controller_server.FollowPath.BaseObstacle.scale0.02still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.GoalAlign.forward_point_distance0.1still defined in nav2_bringup/params/nav2_multirobot_params_all.yaml
controller_server.FollowPath.GoalAlign.scale24.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.GoalDist.scale24.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.PathAlign.forward_point_distance0.1still defined in nav2_bringup/params/nav2_multirobot_params_all.yaml
controller_server.FollowPath.PathAlign.scale32.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.PathDist.scale32.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.RotateToGoal.lookahead_time-1.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.RotateToGoal.scale32.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.RotateToGoal.slowing_factor5.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.acc_lim_theta3.2still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.acc_lim_x2.5still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.acc_lim_y0.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.angular_granularity0.025still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.debug_trajectory_detailsTruestill defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.decel_lim_theta-3.2still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.decel_lim_x-2.5still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.decel_lim_y0.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.linear_granularity0.05still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.max_speed_xy0.26still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.max_vel_theta1.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.max_vel_x0.26still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.max_vel_y0.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.min_speed_theta0.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.min_speed_xy0.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.min_vel_x0.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.min_vel_y0.0still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.short_circuit_trajectory_evaluationTruestill defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.sim_time1.7still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.statefulTruestill defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.trans_stopped_velocity0.25still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.vtheta_samples20still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.vx_samples20still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.vy_samples5still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
controller_server.FollowPath.xy_goal_tolerance0.25still defined in nav2_bringup/params/nav2_multirobot_params_all.yaml

Post text

No post: ambiguous: bulk change (63 parameters added); needs a hand-written post.

Modules touched

ModuleAddedModifiedRemovedLines +Lines −
nav2_bringup010+85−43

Watched files (1)

Show file list
PathLinesNote
Mnav2_bringup/params/nav2_params.yaml+85/−43

Commit message

45% performance improvement in MPPI (#4174)

* 18.5% performance improvement in MPPI

* adding in path angle update

* path align improvements

* adding views

* more updates with some TODOs

* massive improvements to cost critic

* remove TODOs

* removing some jitter

* updates

* use fabs

* 1ms saved baby!

* completed optimizations

* remove TODO

* linting

* fixing test failure

* indexing fix

* fix bug

* make MPPI default for Jazzy

* Adding higher velocity limits

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>