Nav2 default-parameter changelog (demo)
· 7b594b0 · 1 watched files, +5/−0

3 new parameters in nav2_bringup/.

params
  • Added 1 flag: controller_server.FollowPath.TrajectoryValidator.consider_footprint (default off).
  • Added 2 parameters: controller_server.FollowPath.TrajectoryValidator.collision_lookahead_time = 2.0 and controller_server.FollowPath.TrajectoryValidator.plugin = "mppi::DefaultOptimalTrajectoryValidator.
  • Most activity in nav2_bringup/ (+5/−0).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (3)

NameValueTypeFile
controller_server.FollowPath.TrajectoryValidator.collision_lookahead_time2.0numbernav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.TrajectoryValidator.consider_footprintfalseboolnav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.TrajectoryValidator.plugin"mppi::DefaultOptimalTrajectoryValidator"stringnav2_bringup/params/nav2_params.yaml

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Modules touched

ModuleAddedModifiedRemovedLines +Lines −
nav2_bringup010+5−0

Watched files (1)

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Mnav2_bringup/params/nav2_params.yaml+5/−0

Commit message

Adding initial prototype for a MPPI trajectory validator (#5319)

* Adding initial prototype for a MPPI trajectory validator

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

* Adding in control sequence and renaming optimal trajectory

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

* Fix broken tests

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

* Adding trajectory validation collision checks

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

* Last stylistic change

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

* Update optimal_trajectory_validator.hpp

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

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