Nav2 default-parameter changelog (demo)
· af4233c · 1 watched files, +2/−2

Velocity/acceleration limits changed: velocity_smoother.max_accel[0] 2.5→3.0, velocity_smoother.max_accel[2] 3.2→3.5, velocity_smoother.max_decel[0] -2.5→-3.0 and 1 more.

velocity/acceleration limits
  • Velocity/acceleration limit defaults changed: velocity_smoother.max_accel[0]: 2.5 → 3.0 (+20%) (in nav2_bringup/params/nav2_params.yaml), velocity_smoother.max_accel[2]: 3.2 → 3.5 (+9.38%) (in nav2_bringup/params/nav2_params.yaml), velocity_smoother.max_decel[0]: -2.5 → -3.0 (−20%) (in nav2_bringup/params/nav2_params.yaml) and velocity_smoother.max_decel[2]: -3.2 → -3.5 (−9.38%) (in nav2_bringup/params/nav2_params.yaml).
  • Most activity in nav2_bringup/ (+2/−2).

Full analysis → Summary: automatic analysis

Changed values

NameOldNewChangeFileExtractor
velocity_smoother.max_accel[0]2.53.0+20%nav2_bringup/params/nav2_params.yamlros2_yaml
velocity_smoother.max_accel[2]3.23.5+9.38%nav2_bringup/params/nav2_params.yamlros2_yaml
velocity_smoother.max_decel[0]-2.5-3.0−20%nav2_bringup/params/nav2_params.yamlros2_yaml
velocity_smoother.max_decel[2]-3.2-3.5−9.38%nav2_bringup/params/nav2_params.yamlros2_yaml

Post text (X-ready, not posted)

Nav2 update (Aug 15): velocity_smoother/max_accel[0] 2.5 → 3.0 (20% higher) - velocity_smoother/max_decel[0] -2.5 → -3.0 (20% lower) - velocity_smoother/max_accel[2] 3.2 → 3.5 (9.4% higher) - velocity_smoother/max_decel[2] -3.2 → -3.5 (9.4% lower)

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Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/af4233c.html Commit: https://github.com/ros-navigation/navigation2/commit/af4233c67cafffe7e40c45197c833116fcbb8c1c Values are repo defaults from the params files.

112/280 weighted chars

Modules touched

ModuleAddedModifiedRemovedLines +Lines −
nav2_bringup010+2−2

Watched files (1)

Show file list
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Mnav2_bringup/params/nav2_params.yaml+2/−2

Commit message

Match velocity_smoother acceleration limits with MPPI defaults (#6362)

Signed-off-by: Tetsu <tetsuy@knowgictech.com>
Signed-off-by: Tetsu Yamaguchi <tetsuy@knowgictech.com>