Nav2 default-parameter changelog (demo)
· 6f31d59 · 1 watched files, +16/−0

13 new parameters in nav2_bringup/.

params
  • Added 3 flags: velocity_smoother.scale_velocities (default off), velocity_smoother.use_sim_time (default on) and waypoint_follower.use_sim_time (default on).
  • Added 10 parameters: velocity_smoother.deadband_velocity = [0.0, 0.0, 0.0], velocity_smoother.feedback = "OPEN_LOOP", velocity_smoother.max_accel = [2.5, 0.0, 3.2], velocity_smoother.max_decel = [-2.5, 0.0, -3.2], velocity_smoother.max_velocity = [0.26, 0.0, 1.0], velocity_smoother.min_velocity = [-0.26, 0.0, -1.0], velocity_smoother.odom_duration = 0.1, velocity_smoother.odom_topic = "odom" and 2 more.
  • Most activity in nav2_bringup/ (+16/−0).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (13)

NameValueTypeFile
velocity_smoother.deadband_velocity[0.0, 0.0, 0.0]listnav2_bringup/params/nav2_params.yaml
velocity_smoother.feedback"OPEN_LOOP"stringnav2_bringup/params/nav2_params.yaml
velocity_smoother.max_accel[2.5, 0.0, 3.2]listnav2_bringup/params/nav2_params.yaml
velocity_smoother.max_decel[-2.5, 0.0, -3.2]listnav2_bringup/params/nav2_params.yaml
velocity_smoother.max_velocity[0.26, 0.0, 1.0]listnav2_bringup/params/nav2_params.yaml
velocity_smoother.min_velocity[-0.26, 0.0, -1.0]listnav2_bringup/params/nav2_params.yaml
velocity_smoother.odom_duration0.1numbernav2_bringup/params/nav2_params.yaml
velocity_smoother.odom_topic"odom"stringnav2_bringup/params/nav2_params.yaml
velocity_smoother.scale_velocitiesFalseboolnav2_bringup/params/nav2_params.yaml
velocity_smoother.smoothing_frequency20.0numbernav2_bringup/params/nav2_params.yaml
velocity_smoother.use_sim_timeTrueboolnav2_bringup/params/nav2_params.yaml
velocity_smoother.velocity_timeout1.0numbernav2_bringup/params/nav2_params.yaml
waypoint_follower.use_sim_timeTrueboolnav2_bringup/params/nav2_params.yaml

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Nav2 update (Jun 13): new flag velocity_smoother/use_sim_time (ON by default) - new flag waypoint_follower/use_sim_time (ON by default) Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/6f31d59.html Commit: https://github.com/ros-navigation/navigation2/commit/6f31d59e6d43f845b70bd1b953fec21f6e792c0d Values are repo defaults from the params files.

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Mnav2_bringup/params/nav2_params.yaml+16/−0

Commit message

Nav2 Velocity Smoother (#2964)

* WIP velocity smoother with ruckig

* a few comments

* vel smoother prototype

* updating defaults

* adding defaults to readme

* removing note from readme

* updates to velocity smoother TODO items

* adding unit tests

* finishing system tests

* adding failure to change parameters tests

* fix last bits

* fixing negative sign bug

* lint

* update tests

* setting defaults

* Adding warning

* Update velocity_smoother.cpp