Iron to Jazzy

Moving from ROS 2 Iron to Jazzy, a number of stability improvements were added that we will not specifically address here.

Introduce a new Multi-Robot Bringup Launch

PR #3572 introduces a new way of bringup tb3 multi-robot that names as for simulation. enables to bring up multiple robots with same parameter that described in nav2_multirobot_param_all.yaml. And multiple robots are separeted by namespaces which are given as a Launch Arguments. Existing which was utilized in previous is replaced with, allowing for multiple unique robot instances utilizing nav2_multirobot_params_<N>.yaml configuration files.

New option for the Voxel and Obstacle Layers

PR #3612 adds a new MaxWithoutUnknownOverwrite option to combination_method parameter in Voxel and Obstacle Layers. This can be used to make sure that the static map is the dominant source of information, and easily prevent the robot to go through places that are not present in the static map.

Changes to MPPI Goal Critic

The MPPI Goal critic’s formulation is changed to better keep up with speed on approach to goal instead of preemptively slowing too significantly. It also allows you to better use the weight to adjust the degree at which it slows more naturally. This change involves adjusting the threshold_to_consider to be the same as your prediction horizon (e.g. samples * dt * max speed) for both the goal critic and path follower critic to have a good hand-off between them without deceleration.

Changes to MPPI Path Angle Critic

MPPI’s Path Angle critic now has a mode setting to adjust behavior depending on robot’s desired behavioral traits. Previously, it penalized path orientations that deviated far the the robot’s forward orientation to turn the robot towards sharp changes in the path. This is still default (mode: 0), but other modes now exist too.

mode: 1 sets the penalization of path’s relative directions by either forward orientation or the opposite for reversing to allow for true bidirectional motion when one way or another is not preferable for a symmetric robot. This uses only the path’s relative points to the robot to decide which direction to incentivize.

mode: 2 instead uses the path’s orientations when a feasible path is given from the Smac Planners or the Smoother server’s algorithms. This way, the globally planned orientations are followed rather than the based solely on the path’s relative points. This is useful for non-circular robots in highly confined settings where there may be restricted opportunities to change directions so following the global path’s orientation are required to end in the orientation you require.

Changes to MPPI Path Handling For Directionality

MPPI’s Path Align Critic and Path Handler object now have options to utilize the path’s orientation information to force the controller to change directions when and only when requested by a feasible planner. When enforce_path_inversion is true, the path handler will prune the path to the first time the directions change to force the controller to plan to the inversion point and then be set the rest of the path, once in tolerance. The Path Align critic also contains a parameter use_path_orientations which can be paired with it to incentivize aligning the path containing orientation information to better attempt to achieve path inversions where requested and not do them when not requested.

See MPPI’s configuration guide for complete information.

Move Error Code Enumerations

PR #3693 moves the enumeration codes from the goal to the result section.

Substitution in parameter file

Enabled substitution in parameter file. For example, you can write the following

    default_nav_to_pose_bt_xml: $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml

For more information about substitutions syntax, see here

Allow Behavior Server Plugins to Access The Action Result

PR #3704 allows behavior servers plugins to access and modify the action result.

Smac Planner Debug Param Name Change

debug_visualizations replaces viz_expansions parameter in Hybrid-A* to reflect the new inclusion of footprint debug information being published as well.

Smac Planner Hybrid-A* New Features

New features allow_primitive_interpolation which allows for more primitives in the search set, use_quadratic_cost_penalty to impact the cost penalty order in the traversal and heuristic functions, and downsample_obstacle_heuristic to optionally not downsample the obstacle heuristic’s costmap were added. The default behavior will remain the same. If you would like to use these new features, please check out the Smac Planner Hybrid-A* configuration guide.

New node in nav2_collision_monitor: Collision Detector

In this PR #3693 A new node was introduced in the nav2_collision_monitor: Collision Detector. It works similarly to the Collision Monitor, but does not affect the robot’s velocity. It will only inform that data from the configured sources has been detected within the configured polygons via message to the collision_detector_state topic that might be used by any external module (e.g. switching LED or sound alarm in case of collision).

Expose action server’s result timeout

In this PR #3787 the timeout for action server’s result was exposed in all nodes having action servers. This is because in this PR #1012 in rcl a change was introduced which makes action servers discard a goal handle if the result is not produced within 10 seconds, when the default was set to 15 minutes before. Since some actions in Nav2 may take more than 10 seconds to complete, the user has now the ability to set this value through the action_server_result_timeout parameter, which defaults to 15 minutes in the bt_navigators and waypoint_follower and to 10 seconds in all other nodes.

RewrittenYaml could add new parameters to YAMLs

Now RewrittenYaml widely used in Nav2 launch-scripts, could do not only substitutions of ROS-parameters existing in original YAML, but rather additions of new parameters, that did not exist in the YAML. Certainly, these parameters should be declared for target ROS-nodes, otherwise they won’t be processed in run-time. In such functionality, they should be expressed in absolute values, separated by a dot. For example, the rewrite for a prune_distance parameter of a FollowPath node will look like 'controller_server.ros__parameters.FollowPath.prune_distance': '1.0' in a param_rewrites dictionary of RewrittenYaml() argument. The change was intoroduced in the scope of PR #3785 fix.

Simple Commander API Allows Multi-Robot Namespacing

The Simple Navigator API now allows multi-robot namespacing by exposing a namespace field in the constructor to allow you to specify the Nav2 stacks’ namespace for a robot or system. See this PR for details.