Nav2 default-parameter changelog (demo)
· e90717d · 1 watched files, +2/−1

Flags flipped: controller_server.FollowPath.CostCritic.consider_footprint off.

flagsparams
  • Flags flipped: controller_server.FollowPath.CostCritic.consider_footprint is now OFF (in nav2_bringup/params/nav2_params.yaml).
  • Added 1 parameter: controller_server.FollowPath.CostCritic.near_collision_cost = 253.
  • Most activity in nav2_bringup/ (+2/−1).

Full analysis → Summary: automatic analysis

Changed values

NameOldNewChangeFileExtractor
controller_server.FollowPath.CostCritic.consider_footprinttruefalsenav2_bringup/params/nav2_params.yamlros2_yaml

Added (1)

NameValueTypeFile
controller_server.FollowPath.CostCritic.near_collision_cost253numbernav2_bringup/params/nav2_params.yaml

Post text (X-ready, not posted)

Nav2 update (Apr 1): controller_server/FollowPath/CostCritic/consider_footprint: switched OFF by default Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/e90717d.html Commit: https://github.com/ros-navigation/navigation2/commit/e90717de5d2895d288bb06de7373c2c7553af4f1 Values are repo defaults from the params files.

218/280 weighted chars

Modules touched

ModuleAddedModifiedRemovedLines +Lines −
nav2_bringup010+2−1

Watched files (1)

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Mnav2_bringup/params/nav2_params.yaml+2/−1

Commit message

Add near collision cost and warnings for misaligned parameter settings in MPPI critics (#4996)

* Add warning when settings not aligned; Add tunable option for near collision

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Linting

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Add more information for warning

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Add test for coverage

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Throw controller exception instead of invalid argument

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

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Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>