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375 changes to nav2 planner and controller if required#403

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geurto wants to merge 17 commits intomainfrom
375-changes-to-nav2-planner-and-controller-if-required
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375 changes to nav2 planner and controller if required#403
geurto wants to merge 17 commits intomainfrom
375-changes-to-nav2-planner-and-controller-if-required

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@geurto geurto commented Mar 2, 2026

Description

This PR makes some changes to the nav2 planner and controller:

  • Switches from Hybrid-A* to A* planner;
  • Switched from Vector Pursuit to MPPI controller;
  • Populated local costmap for MPPI controller;
  • Tuned MPPI controller;
  • Added local costmap and trajectory as visualizations to Rviz.

Fixes: #375

Testing

Extensive testing in simulation in challenging environments.
Testing with the Panther outside of our office.

Documentation

  • I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

@geurto
switched to SmacPlanner2D; first tuning of mppi; added vehicle trajec…
99e055f 
…tory to Rviz

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
removed superfluous target_frame="" in lidar launches; changed map to…
fe659ad 
… location with more obstacles; increased inflation radius and decreased cost scaling factor to make falloff costs smoother

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
added local costmap; tuned parameters
4b5eb41 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto geurto linked an issue Mar 2, 2026 that may be closed by this pull request
Changes to nav2 planner and controller if required. #375
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9 tasks
geurto and others added 14 commits March 2, 2026 09:04
@geurto
Merge branch 'main' into 375-changes-to-nav2-planner-and-controller-i…
6430095 
…f-required
@geurto
updated velodyne position on panther
65e633b 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
added realsense to panther_gps_navigation; updated camera/gps positions
f465975 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
changed gps hardware frame
a08b9a3 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
added test script with predefined list of GPS waypoints to test plann…
9117c06 
…er/controller performance; linting

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
qol
7c2c280 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
qol
93bfc6f 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
allow partial planning
e2833de 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
qol
e3858ab 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
added rviz.yml option to start.py, useful for visualizing (live) ros …
b1a9aa1 
…data on your laptop

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
added odometry to rviz; changed map to satellite tiles from google; r…
8ea8b9b 
…emapped topic in odometry

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
moved gps ekf/navsat params to own file
d5eaa88 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
noqa on method count in Rviz
1773455 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
following panther docs enu_localization_with_gps more
647065b 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
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Changes to nav2 planner and controller if required.

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