Code

Humble backport of MPPI controller#3439

Code

Merged

SteveMacenski merged 16 commits intoros-navigation:humbleros-navigation/navigation2:humblefrom logivations:humble-upstreamlogivations/navigation2:humble-upstreamCopy head branch name to clipboardMar 4, 2023

+9,250-9

Commits

Commits on Mar 3, 2023

• Adding new MPPI controller to Nav2 (ros-navigation#3350)

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  SteveMacenski

  authored and

  Tony Najjar

  committed
  d701c15

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• Replace nav2_core exceptions with std::runtime_error

  

  Tony Najjar

  committed
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• Get inflation layer parameters from node params

  

  Tony Najjar

  committed
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• remove changes unrelated to mppi

  

  Tony Najjar

  committed
  55fec35

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• fix eol

  

  Tony Najjar

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• Add reset behavior (draft)

  

  Tony Najjar

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• initialize last_time_called_

  

  Tony Najjar

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• add readme for reset_period

  

  Tony Najjar

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• Revert "remove changes unrelated to mppi"

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  Tony Najjar

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• changing MPPI's SG filter to 9-point formulation (prev. 5) (ros-navigation#3444)

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  SteveMacenski

  authored and

  Tony Najjar

  committed
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• Adapt tests to humble Costmap2DROS constructor

  

  Tony Najjar

  committed
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• cpplint

  

  Tony Najjar

  committed
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• Update nav2_mppi_controller/README.md

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  Tony Najjar

  and

  SteveMacenski

  authored
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• address time comment

  

  Tony Najjar

  committed
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• fix API change rclcpp::ServicesQoS()

  

  Tony Najjar

  committed
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Commits on Mar 4, 2023

• fix CI

  

  Tony Najjar

  committed
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