Humble backport https://github.com/ros-planning/navigation2/pull/4174 #1
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…avior (ros-navigation#3650) * fixing path angle critic's non-directional bias * adding reformat * handle linting * add utility unit tests * adding unit tests for path angle (cherry picked from commit cd2ca19)
…#3659) * alternative to path align critic for inversion control * fix default behavior (enforce_path_inversion: false) (ros-navigation#3643) Co-authored-by: Guillaume Doisy <[email protected]> * adding dyaw option for path alignment to incentivize following the path's intent where necessary * add docs for use path orientations * fix typo --------- Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> (cherry picked from commit af7e9b5)
Signed-off-by: Renan Salles <[email protected]> (cherry picked from commit 29321d6)
* 18.5% performance improvement in MPPI * adding in path angle update * path align improvements * adding views * more updates with some TODOs * massive improvements to cost critic * remove TODOs * removing some jitter * updates * use fabs * 1ms saved baby! * completed optimizations * remove TODO * linting * fixing test failure * indexing fix * fix bug * make MPPI default for Jazzy * Adding higher velocity limits --------- Signed-off-by: Steve Macenski <[email protected]> (cherry picked from commit 5a8cbd3)
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