[Nav2] Feb 15, 2024 Working Group Notes

Navigation Working Group Meeting Minutes - Feb 15


  • Steve Macenski
  • Sachin Kumar
  • Michael Ferguson
  • David Lu!!
  • Pradheep Krishna



  • N/A

New additions of note:

  • New Graceful Controller plugin! (Alberto Tudela)
  • Adding new default Nav2 rviz plugin for algorithm selectors (Neobotix)
  • New Docker Development Guide Docker for Development: Zero to Hero — Nav2 1.0.0 documentation (Open Navigation)
  • Behavior Server updated topic to use collision monitor and velocity smoother command pipeline (Open Navigation)
  • Adding velocity scheduled zones for the collision monitor (Dexory)
  • New Cost Critic in MPPI which users report better experiences with (Robocc, Open Navigation)
  • Fix to MPPI’s PathAlign Critic which improves performance substantially for path tracking (Open Navigation)
  • Added progress checker selector BT node (Open Navigation)


  • Davide working on BT.CPPv4 migration for Jazzy
  • Loopback simulator with incremental progress

New bugs of note:

  • N/A

Anything else?

Round Robbin (questions, comments, what youre working on, updates, etc)

  • Steve: Created the Docker Development guide, resolved the MPPI PathAlign and Cost Critic problems, updating content on the Nav2 website, fixed a number of flaky tests. Currently experimenting with some MPPI technique variants to further optimize C-space search while being smooth & figuring out the last CI bug.
  • Fergs: Blogs and graceful controller items, image pipeline documentation
  • Pradheep: Rviz selector panel
  • Sachin: N/A

Want to join the working group? Add yourself to the calendar here: Project Governance — ROS 2 Documentation: Rolling documentation

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