Navigation Working Group Meeting Minutes - March 28
Topics
Announcements:
- Open Source Robotics Alliance announced! Please support them & TBD on the impacts to this working group
New additions of note:
- 45% improvement in MPPI runtime merged in to Nav2 main (Open Navigation)
- MPPI made the default controller in nav2 bringup! (Open Navigation)
- Initial pose estimate in AMCL as a service or topic (aock)
- Smac Planner adjusting footprint when dynamically changed (Robocc)
- Adding option for transient local subscrition for polygon topics in collision monitor (Robocc)
- Reloading BT option even for same XML (Austrian Institute of Technology)
- Improved stability of BT run-time loop schedule (christophfroehlich)
- Allowing changes of costmap resolution in Smac Hybrid-A* (Open Navigation)
- Fixing Humble potential seg fault when given Smac Planner goals outside of map (Open Navigation)
- Improved stability of the action ETA and distance remaining in Navigator plugins (Open Navigation)
- Addded loop-rate log when exceeded in controller server (Reza Kermani)
- RPP improvements for end of path following (Dexory & James Ward)
Ongoing:
- Jazzy release TODO list Jazzy Release TODO List · Issue #4145 · ros-planning/navigation2 · GitHub → Gazebo migration a concerning outstanding task partially completed but unstable.
New bugs of note:
- Our CI system is not turning over due to Ubuntu 24.04 migration for Rolling. Working on fixing that this afternoon and tomorrow.
Anything else?
Round Robbin (questions, comments, what youre working on, updates, etc)
- Steve: Performance improvements for MPPI, NVIDIA’s GTC, CI and bug quashing
- David: Benchmarking messages, environmental modeling
Want to join the working group? Add yourself to the calendar here: Project Governance — ROS 2 Documentation: Rolling documentation