# \[Nav2 WG\] Meeting Minutes March 28, 2024

**URL:** <https://discourse.openrobotics.org/t/nav2-wg-meeting-minutes-march-28-2024/36898>\
**Category:** Navigation\
**Created:** [March 28, 2024, 7:50pm UTC](https://discourse.openrobotics.org/t/nav2-wg-meeting-minutes-march-28-2024/36898 "2024-03-28T19:50:40Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![smac](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/smac/32/6763_2.png) [@smac](https://discourse.openrobotics.org/u/smac)\
**Post date:** [March 28, 2024, 7:50pm UTC](https://discourse.openrobotics.org/t/nav2-wg-meeting-minutes-march-28-2024/36898/1 "2024-03-28T19:50:40Z")

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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-navigation/navigation2 · GitHub](https://github.com/ros-planning/navigation2/issues/4145) → 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](https://docs.ros.org/en/rolling/The-ROS2-Project/Governance.html#upcoming-ros-events)