Nav2 default-parameter changelog (demo)
· 8b40796 · 1 watched files, +3/−3

Parameter changes: controller_server.FollowPath.motion_model "DiffDrive"→"diff_drive".

params
  • Parameter defaults changed: controller_server.FollowPath.motion_model: "DiffDrive" → "diff_drive" (in nav2_bringup/params/nav2_params.yaml).
  • Added 1 parameter: controller_server.FollowPath.diff_drive.plugin = "mppi::DiffDriveMotionModel".
  • Removed 1 parameter: controller_server.FollowPath.AckermannConstraints.min_turning_r.
  • Most activity in nav2_bringup/ (+3/−3).

Full analysis → Summary: automatic analysis

Changed values

NameOldNewChangeFileExtractor
controller_server.FollowPath.motion_model"DiffDrive""diff_drive"nav2_bringup/params/nav2_params.yamlros2_yaml

Added (1)

NameValueTypeFile
controller_server.FollowPath.diff_drive.plugin"mppi::DiffDriveMotionModel"stringnav2_bringup/params/nav2_params.yaml

Removed (1)

NameLast valueNote
controller_server.FollowPath.AckermannConstraints.min_turning_r0.2removed from nav2_bringup/params/nav2_params.yaml

Post text

No post: no meaningful change.

Modules touched

ModuleAddedModifiedRemovedLines +Lines −
nav2_bringup010+3−3

Watched files (1)

Show file list
PathLinesNote
Mnav2_bringup/params/nav2_params.yaml+3/−3

Commit message

[mppi] Add pluginized motion models (#6076)

* first draft, compiles correctly

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>

* minor fixes, unit tests ok

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>

* minor doc update

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>

* addressing review comments, removing unnecessary changes

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>

* minor changes to pass tests, removed some descriptions

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>

* using casting to determine motion model type and using existing utils

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>

* minor changes

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>

* removed default diffDrive plugin

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>

* Update nav2_mppi_controller/src/optimizer.cpp

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

* small change and add test for coverage

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>

* minor refactor

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>

---------

Signed-off-by: Alessio Parmeggiani <parmeggiani.alessio1@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>