Issue with nav2-mppi-controller

[avanmalleghem]

Describe the bug

When using nav2-mppi-controller with the current version of xtl (0.7.7), xtensor (0.24.7) and xsimd (11.2.0) dependencies, it has a weird behavior. The behavior is described here : https://github.com/ros-navigation/navigation2/issues/4380 (you even have a video)

I tried to use xtl 0.7.2, xtensor 0.23.10 and xsimd 7.6.0 (versions used on ubuntu 22 when installed from binaries) and it solves the issue so it is clearly linked to one of these libraries. I don't have time to go deeper in it for now but I guess next steps are :

• Find recipes that have dependencies on these libraries.
• Find the recipe causing issue among these 3 and downgrade it to the right commit if it has no regression

Maybe I will have time to do so in next weeks but I'm not sure so if someone wants to help on this one...

To Reproduce I'm on the latest kirkstone version (commit 9a857afebc18e0f426d87226bd085727ea9ce4ae) on a jetson nano (using meta-tegra) but I don't think it is machine dependant. I think you can reproduce it whatever the machine is.

• Version : kirkstone
• ROS distro : humble

[robwoolley]

Thanks for reporting the issue. I have been tracking the progress in the upstream bug: https://github.com/ros-navigation/navigation2/issues/4380

I haven't been able to investigate it yet as I have been working to close out the work on ros-image-world. I hope to resolve that soon and get a chance to look into this.