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Right now the smoother will smooth the entire path, meaning that it will smooth the cusp in direction changes. That probably isn't good. Instead we should be treating each segment in a velocity direct…
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## Bug report
**Required Info:**
- Operating System: Ubuntu 20.04
- ROS2 Version: Galactic (apt-get)
- Version or commit hash:
ros-galactic-nav2-amcl 1.0.6-1focal.20210701.002235
ros-galac…
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Dear Ke,
this part is not really clear in the paper:
"To ensure reasonable runtime, hybrid-A* is applied. Longitudinal speed is discretized to three intervals, while the temporal dimension is left…
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Not sure if this is a bug, so removing the bug report tag.
#### DESCRIPTION
Unlike the navfn planner smac planner only reacts to the costs that are >= INSCRIBED cost value. A visual representat…
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I think the calculation for (xc, yc) is missing a negative.
The general rotation matrix is:
[cos(theta) -sin(theta)
sin(theta) cos(theta)]
```python
def calc_lane_states(l_center, l_heading,…
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It would be good if we had a general path smoothing solution to apply to search based planners and replace the very application specific one in Hybrid-A* (which is pretty sensitive).
This smoother …
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The SMAC planner supports both the Reeds-Shepp & Dubin motion models for ackermann / legged robots.
The Dubin model can only move forward which RPP encapsulates perfectly. However Reeds-Shepp can …
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## Feature request
#### Feature description
Too many a time have I had to find hacks around orientations missing from planners. For Nav2, it seems only the smac planner (and not the 2D version) ac…
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In our environmental modeling ticket #1278 I discuss enabling plugin-based models for costmaps as well as height maps. This will help bring a 2D navigation system into the unstructured 3D space. This …
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Dear all,
I have a question regarding the ROS integration with MiR100 running robot software versions of 2.7 and 2.8.
As already mentioned in the previous issues, the ROS wrapper available in this…