Nav2 default-parameter changelog (demo)
· 5f7f83a · 1 watched files, +27/−5

Thresholds changed: planner_server.GridBased.tolerance 0.5→0.25.

paramsthresholds
  • Threshold defaults changed: planner_server.GridBased.tolerance: 0.5 → 0.25 (−50%) (in nav2_bringup/params/nav2_params.yaml).
  • Parameter defaults changed: planner_server.GridBased.plugin: "nav2_navfn_planner/NavfnPlanner" → "nav2_smac_planner/SmacPlannerLattice" (in nav2_bringup/params/nav2_params.yaml).
  • 1 parameter no longer defined in the changed file(s) but still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml (moved, not deleted): planner_server.GridBased.use_astar.
  • Added 5 flags: planner_server.GridBased.allow_reverse_expansion (default off), planner_server.GridBased.cache_obstacle_heuristic (default off), planner_server.GridBased.debug_visualizations (default on), planner_server.GridBased.smooth_path (default on) and planner_server.GridBased.smoother.do_refinement (default on).
  • Added 17 parameters: planner_server.GridBased.analytic_expansion_max_length = 3.0, planner_server.GridBased.analytic_expansion_ratio = 3.5, planner_server.GridBased.change_penalty = 0.05, planner_server.GridBased.cost_penalty = 2.0, planner_server.GridBased.lookup_table_size = 20.0, planner_server.GridBased.max_iterations = 1000000, planner_server.GridBased.max_on_approach_iterations = 1000, planner_server.GridBased.max_planning_time = 5.0 and 9 more.
  • Most activity in nav2_bringup/ (+27/−5).

Full analysis → Summary: automatic analysis

Changed values

NameOldNewChangeFileExtractor
planner_server.GridBased.plugin"nav2_navfn_planner/NavfnPlanner""nav2_smac_planner/SmacPlannerLattice"nav2_bringup/params/nav2_params.yamlros2_yaml
planner_server.GridBased.tolerance0.50.25−50%nav2_bringup/params/nav2_params.yamlros2_yaml

Added (22)

NameValueTypeFile
planner_server.GridBased.allow_reverse_expansionfalseboolnav2_bringup/params/nav2_params.yaml
planner_server.GridBased.analytic_expansion_max_length3.0numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.analytic_expansion_ratio3.5numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.cache_obstacle_heuristicfalseboolnav2_bringup/params/nav2_params.yaml
planner_server.GridBased.change_penalty0.05numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.cost_penalty2.0numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.debug_visualizationstrueboolnav2_bringup/params/nav2_params.yaml
planner_server.GridBased.lookup_table_size20.0numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.max_iterations1000000numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.max_on_approach_iterations1000numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.max_planning_time5.0numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.non_straight_penalty1.05numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.retrospective_penalty0.015numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.reverse_penalty2.0numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.rotation_penalty5.0numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smooth_pathTrueboolnav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.do_refinementtrueboolnav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.max_iterations1000numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.refinement_num2numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.tolerance1.0e-10numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.w_data0.2numbernav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.w_smooth0.3numbernav2_bringup/params/nav2_params.yaml

Removed (1)

NameLast valueNote
planner_server.GridBased.use_astarfalsestill defined in nav2_bringup/params/nav2_multirobot_params_1.yaml

Post text (X-ready, not posted)

Nav2 update (Jan 10): planner_server/GridBased/tolerance 0.5 → 0.25 (2x lower) - new planner_server/GridBased/smoother/tolerance = 1.0e-10 - new flag planner_server/GridBased/debug_visualizations (ON by default) - new flag planner_server/GridBased/smooth_path (ON by default)

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+1 more on the details page. Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/5f7f83a.html Commit: https://github.com/ros-navigation/navigation2/commit/5f7f83a12168b74d64c3f054de09f2eb1a23adc0 Values are repo defaults from the params files.

141/280 weighted chars

Modules touched

ModuleAddedModifiedRemovedLines +Lines −
nav2_bringup010+27−5

Watched files (1)

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Mnav2_bringup/params/nav2_params.yaml+27/−5

Commit message

linting for new lint bots catching issues not previously reported (#4044)

* linting for new lint bots

* moar

* moar2

* try without dashes

* more

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