Nav2 default-parameter changelog (demo)
· f3406e2 · 1 watched files, +11/−2

10 new parameters in nav2_bringup/.

params
  • Added 3 flags: controller_server.PathHandler.enforce_path_inversion (default off), controller_server.PathHandler.enforce_path_rotation (default off) and controller_server.PathHandler.reject_unit_path (default off).
  • Added 7 parameters: controller_server.PathHandler.inversion_xy_tolerance = 0.2, controller_server.PathHandler.inversion_yaw_tolerance = 0.4, controller_server.PathHandler.minimum_rotation_angle = 0.785, controller_server.PathHandler.plugin = "nav2_controller::FeasiblePathHandler", controller_server.PathHandler.prune_distance = 2.0, controller_server.general_goal_checker.path_length_tolerance = 1.0 and controller_server.path_handler_plugins = ["PathHandler"].
  • Removed 2 parameters: controller_server.FollowPath.prune_distance and controller_server.FollowPath.transform_tolerance.
  • Most activity in nav2_bringup/ (+11/−2).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (10)

NameValueTypeFile
controller_server.PathHandler.enforce_path_inversionFalseboolnav2_bringup/params/nav2_params.yaml
controller_server.PathHandler.enforce_path_rotationFalseboolnav2_bringup/params/nav2_params.yaml
controller_server.PathHandler.inversion_xy_tolerance0.2numbernav2_bringup/params/nav2_params.yaml
controller_server.PathHandler.inversion_yaw_tolerance0.4numbernav2_bringup/params/nav2_params.yaml
controller_server.PathHandler.minimum_rotation_angle0.785numbernav2_bringup/params/nav2_params.yaml
controller_server.PathHandler.plugin"nav2_controller::FeasiblePathHandler"stringnav2_bringup/params/nav2_params.yaml
controller_server.PathHandler.prune_distance2.0numbernav2_bringup/params/nav2_params.yaml
controller_server.PathHandler.reject_unit_pathFalseboolnav2_bringup/params/nav2_params.yaml
controller_server.general_goal_checker.path_length_tolerance1.0numbernav2_bringup/params/nav2_params.yaml
controller_server.path_handler_plugins["PathHandler"]listnav2_bringup/params/nav2_params.yaml

Removed (2)

NameLast valueNote
controller_server.FollowPath.prune_distance1.7removed from nav2_bringup/params/nav2_params.yaml
controller_server.FollowPath.transform_tolerance0.1removed from nav2_bringup/params/nav2_params.yaml

Post text (X-ready, not posted)

Nav2 update (Dec 29): new controller_server/PathHandler/inversion_xy_tolerance = 0.2 - new controller_server/PathHandler/inversion_yaw_tolerance = 0.4 - new controller_server/general_goal_checker/path_length_tolerance = 1.0

223/280 weighted chars

- controller_server/FollowPath/transform_tolerance removed (was 0.1) Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/f3406e2.html Commit: https://github.com/ros-navigation/navigation2/commit/f3406e246cda1e7c28052409a098313fbc1761fe Values are repo defaults from the params files.

182/280 weighted chars

Modules touched

ModuleAddedModifiedRemovedLines +Lines −
nav2_bringup010+11−2

Watched files (1)

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PathLinesNote
Mnav2_bringup/params/nav2_params.yaml+11/−2

Commit message

Centralize path handler logic in controller server (#5446)

* Add path goal checker plugin

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

* Use local plan's last pose as end pose

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* Move path handler from plugin to controller level

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* Add exact path following in path handler and parameter handler

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* Move more parameters

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* Rotation shim

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* RPP

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* Graceful

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* MPPI

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* Remove goal from MPPI

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* Update setPlan api

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* Fix naming and doxygen

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* Remove path complete goal checker

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* Revert "Use local plan's last pose as end pose"

This reverts commit 145b2d98a2290e541be962109d84c176031f1976.

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* Linting

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* Add prune distance

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* Add dynamic parameter

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* Revert unrelated changes

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* DWB

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* Revert "Remove goal from MPPI"

This reverts commit 5bc19f2da2649cd500ef11c374103f7de5a8116f.

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* New idea

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* Rename

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* Use new api

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* Make path handler a controller server's plugin

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* Fix dynamic parameters handling

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* Add mppi path handler

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* Fix tests

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* Add path length checking in position goal checker

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* Remove controller frequency in dynamic parameters

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* Fix as suggested

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* Add api, fix dynamic parameters

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* Linting

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* Add mppi logic in simple path handler

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* Simplify test logic

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* Minor fix

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* Linting

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* Add output port in FollowPath

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* Linting

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* Always return local plan in odom frame

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* Linting

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* Minor fix

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* Revert tracking feedback output port

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* Create post callback first

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* Minor fix

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* Add path length tolerance in dwb critic

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* Linting

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* Format

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* Activate dynamic parameters callback in Avtivate stage

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* Fix tests for dynamic parameters

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* Lint

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* Skip

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* Fix as suggested

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* Fix tests

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* Fix tests

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* Update CI key for codecov

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* Increase code coverage

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* Linting

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* Increase code coverage

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* Move from controller_utils to path_utils

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* Update params and rviz

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* Update costmap update timeout

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* Lint

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* Apply Tony's suggestions

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* Lint

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* Feedback

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* Fix tests

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* Rename

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* Lint

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* Update rotation shim, path handler api, and constraint check

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* Mark transformed global plan as const to prevent mutating it

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* Fix tests

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* Update nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp

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* Update nav2_controller/src/controller_server.cpp

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* Update nav2_controller/plugins/feasible_path_handler.cpp

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* Update nav2_controller/plugins/feasible_path_handler.cpp

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* Update nav2_controller/plugins/feasible_path_handler.cpp

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Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>

* Update nav2_controller/plugins/feasible_path_handler.cpp

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* Update nav2_controller/src/controller_server.cpp

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* Update nav2_controller/src/controller_server.cpp

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* Update nav2_controller/src/controller_server.cpp

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* Update nav2_util/include/nav2_util/path_utils.hpp

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* Update nav2_controller/src/controller_server.cpp

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Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>

* Update nav2_controller/plugins/feasible_path_handler.cpp

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* Apply suggestions

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* Move to cpp

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* Revert

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* Revert

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* Update nav2_util/src/path_utils.cpp

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* Apply suggestions

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* Fix early termination bug

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* Fix tests

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* Add code coverage

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* Lint

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* Add code coverage

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* Apply suggestions

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* Cleanup

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* Check before logging

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* Lint

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* Use try lock in controller server

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* Retrigger CI

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* Retrigger CI due to timeout

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* Update prune distance in keepout filter test

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---------

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
Signed-off-by: Maurice <mauricepurnawan@gmail.com>
Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>