Nav2 default-parameter changelog (demo)
· b970a84 · 1 watched files, +5/−27

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

paramsthresholds
  • Threshold defaults changed: planner_server.GridBased.tolerance: 0.25 → 0.5 (+100%) (in nav2_bringup/params/nav2_params.yaml).
  • Parameter defaults changed: planner_server.GridBased.plugin: "nav2_smac_planner/SmacPlannerLattice" → "nav2_navfn_planner/NavfnPlanner" (in nav2_bringup/params/nav2_params.yaml).
  • Added 1 flag: planner_server.GridBased.use_astar (default off).
  • Removed 5 flags: planner_server.GridBased.allow_reverse_expansion, planner_server.GridBased.cache_obstacle_heuristic, planner_server.GridBased.debug_visualizations, planner_server.GridBased.smooth_path and planner_server.GridBased.smoother.do_refinement.
  • Removed 17 parameters: planner_server.GridBased.analytic_expansion_max_length, planner_server.GridBased.analytic_expansion_ratio, planner_server.GridBased.change_penalty, planner_server.GridBased.cost_penalty, planner_server.GridBased.lookup_table_size, planner_server.GridBased.max_iterations, planner_server.GridBased.max_on_approach_iterations, planner_server.GridBased.max_planning_time and 9 more.
  • Most activity in nav2_bringup/ (+5/−27).

Full analysis → Summary: automatic analysis

Changed values

NameOldNewChangeFileExtractor
planner_server.GridBased.plugin"nav2_smac_planner/SmacPlannerLattice""nav2_navfn_planner/NavfnPlanner"nav2_bringup/params/nav2_params.yamlros2_yaml
planner_server.GridBased.tolerance0.250.5+100%nav2_bringup/params/nav2_params.yamlros2_yaml

Added (1)

NameValueTypeFile
planner_server.GridBased.use_astarfalseboolnav2_bringup/params/nav2_params.yaml

Removed (22)

NameLast valueNote
planner_server.GridBased.allow_reverse_expansionfalseremoved from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.analytic_expansion_max_length3.0removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.analytic_expansion_ratio3.5removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.cache_obstacle_heuristicfalseremoved from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.change_penalty0.05removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.cost_penalty2.0removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.debug_visualizationstrueremoved from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.lookup_table_size20.0removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.max_iterations1000000removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.max_on_approach_iterations1000removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.max_planning_time5.0removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.non_straight_penalty1.05removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.retrospective_penalty0.015removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.reverse_penalty2.0removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.rotation_penalty5.0removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smooth_pathTrueremoved from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.do_refinementtrueremoved from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.max_iterations1000removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.refinement_num2removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.tolerance1.0e-10removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.w_data0.2removed from nav2_bringup/params/nav2_params.yaml
planner_server.GridBased.smoother.w_smooth0.3removed from nav2_bringup/params/nav2_params.yaml

Post text (X-ready, not posted)

Nav2 update (Feb 1): planner_server/GridBased/tolerance 0.25 → 0.5 (2x higher) - planner_server/GridBased/smoother/tolerance removed (was 1.0e-10) Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/b970a84.html Commit: https://github.com/ros-navigation/navigation2/commit/b970a8428fa996f582a1d9c30f816bba97704527 Values are repo defaults from the params files.

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nav2_bringup010+5−27

Watched files (1)

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

Commit message

Revert accidental inclusion of Smac Lattice as default (#4089)

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