Howdy!
Its Your Friendly Neighborhood Navigator with an exciting announcement: Nav2’s Lyrical Release!
(I just couldn’t help myself; this is just too cool. If anyone has swag ideas for this, let me know!)
This release marks some of the most exciting and broad updates made in several distributions, including:
- New
nav2_ros_commonpackage which makes major headway into abstracting ROS APIs into a common location for easier software development and compliant node development, which will continue to be developed over time - New to MPPI: open-loop control mode, dynamics support, asymmetric acceleration limits, plugin motion models, trajectory validators, delay compensation, and more!
- New Pause and Resume capabilities powered by the
PauseResumeControllerBT node from @redvinaa - New Vector Object Server to work with polygon and shape data with costmap 2D, costmap filters, and other key integrations by @Sushant-Chavan and continued work from my time at Samsung Research
- New Adaptive Goal Checker with coarse and fine criteria for more accurate goal achievement @DavidG-Develop
- A litany of new features for RPP including the support for Dynamic Window Pure Pursuit to consider dynamic limitations during path tracking @Decwest
- New support for IPC within composed bringups for true zero-copy communications
- The start of support by measuring path tracking bounds in the controller server which may be used by the behavior tree, costmap plugins, controllers, and other algorithms to improve behaviors @silanus23 @mini-1235
- Massive speed ups in the Inflation Layer aided by a new algorithm, optional OpenMP processing, as well as an symmetric inflation layer to incentivize left- or right-hand side passing @tnajjar @mbloechli
- Collision monitor toggles, exclusion zones, and costmap sources
… and literally so, so much more
One thing I’m particularly proud of with the dedication, time, and support of @AJedancov is a brand new, fully redesigned Nav2 documentation website which is now live!
Not only is it more beautiful, we now have support for separate documentation versions per-distribution to support distribution life-long documentation, tutorials, and guides for each currently active ROS distribution, and dark mode. Alot of time and effort went into this work and I hope you enjoy this new experience!
This has been a truly exciting past year and its been a pleasure to try to keep up with all the amazing ways people are using Nav2 and ROS in their applications and building in the open to improve the industry together. If you’re using Nav2, I highly encourage you get involved!
All of this is only possible due to the support of our sponsors, so I’d like to make sure we thank Dexory, Polymath Robotics, NVIDIA, AMD, StereoLabs, 3Laws, and Staer for their excellent partnership, support, and collaboration.
As always: Happy Navigating,
Steve Macenski
Open Navigation
