[Nav2 WG Notes] June 22, 2023

Attendees (slow turn out, summer vacations have started!):

  • Steve Macenski
  • Josh Wallace
  • Ryan Friedman
  • Paul Bovbel
  • Ben Persegetti



  • Canceling July meetings since vacation heavy. Please reach out to me if you have any questions or topics and happy to schedule a call! Next meeting August 3.

New additions of note:

  • Many new MPPI improvements under way. (A) better handling of paths closer to the goal, (B) adapting path angle critic to support truly bidirectional robot platforms with & without path orientation information, (C)

  • Released Iron and updated the binary build tables in the readme to reflect (Steve Macenski)

  • Adding several new build warning flags to indicate potential future issues for the codebase (Ryan Friedman)

  • New combination method in Costmap2D to allow for override with max (default) but ignoring unknown regions so that unknown regions in the map remain unknown to avoid planning into when exploration from the original bounds of mapping is not permissable (RBT22)

  • Ongoing: support for new-Gazebo PRs open, please test or provide feedback! Initial support to the new Gazebo by ahcorde · Pull Request #3634 · ros-planning/navigation2 · GitHub

New bugs of note

  • N/A

Anything else?

  • Add optional build warnings for developers instead of forcing the full set of them (Ryan Friedman, Paul Bovbel)
    • OK! File a ticket about it and we can make it an option. Default on though for general community contributors so their builds look like CI to help aid in efficient contributions.
  • Support for humble with ignition? (Ryan Friedman)
    • No, only moving forward

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

  • Steve: MPPI, ROSConFR
  • Josh: nav2 route server work + roscon talk proposal
  • Ryan: std bind / lambda
  • Ben: rfo lidar odometry
1 Like