Remove the smoother specific to smac and incorporate it to nav2_smoother #5435
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
|
It is not ready so no need to review it for now. I will inform you. BC test_simple_smoother throws segfault. and I'll also clean up PR. |
…st_simple_smoother Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
CihatAltiparmak
commented
Aug 10, 2025
Comment on lines
+310
to
+319
| smac_path.poses[0].pose.position.x = 0.250000; | ||
| smac_path.poses[0].pose.position.y = 0.250000; | ||
| smac_path.poses[0].pose.orientation.x = 0.000000; | ||
| smac_path.poses[0].pose.orientation.y = 0.000000; | ||
| smac_path.poses[0].pose.orientation.z = 0.000000; | ||
| smac_path.poses[0].pose.orientation.w = 1.000000; | ||
| smac_path.poses[1].pose.position.x = 0.353528; | ||
| smac_path.poses[1].pose.position.y = 0.263630; | ||
| smac_path.poses[1].pose.orientation.x = 0.000000; | ||
| smac_path.poses[1].pose.orientation.y = 0.000000; |
There was a problem hiding this comment.
Note to myself, we should get these informations from csv-like files. This looks like horrific. 🫤
SteveMacenski
requested changes
Aug 11, 2025
There was a problem hiding this comment.
I think we got our wires crossed. I do not support removing the smoother from the smac planner - that is an important feature. I support though abstracting more into shared utilities so that the specialized functions of the Smac version are to a minimum -- which we pointed out 2x methods that could be removed with minimal effort into smoother utils.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
fixes #5425
Basic Info
Description of contribution in a few bullet points
Removed smoother of nav2_smac and integrated to nav2 simple smoother. I have still some work to do, so I will update the description in detail when it is done.
Description of documentation updates required from your changes
Description of how this change was tested
Future work that may be required in bullet points
For Maintainers:
backport-*.