Release notes New to Iron for Nav2:
- A new MPPI controller for predictive trajectory planning,
- A set of new path smoothing algorithms to support the spanning set of essential user needs,
- A denoising costmap layer to remove localized noise as an alternative to pre-processing sensors which works well in some particular situations (but not all),
- Complete error codes to all Nav2 internal actions to receive contextual information about task server failures for use in intelligent autonomy behavior,
- Support for setting / loading / saving / looping waypoints in rviz,
- Support for costmaps and occupancy grids in the Simple Python3 API,
- A collision monitor providing analogous behavior provided by many safety lidar systems,
- Newly minted plugin interfaces for Navigators to provide support for custom action types,
- and many bug fixes, Behavior Tree node additions, and small features.
See the migration guide at Humble to Iron — Navigation 2 1.0.0 documentation for full detail.
