Remove the smoother specific to smac and incorporate it to nav2_smoother#5435
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CihatAltiparmak wants to merge 2 commits intoros-navigation:mainfrom
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Remove the smoother specific to smac and incorporate it to nav2_smoother#5435CihatAltiparmak wants to merge 2 commits intoros-navigation:mainfrom
CihatAltiparmak wants to merge 2 commits intoros-navigation:mainfrom
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Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
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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
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Aug 10, 2025
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| 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; |
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Note to myself, we should get these informations from csv-like files. This looks like horrific. 🫤
SteveMacenski
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Aug 11, 2025
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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.
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Thanks for this work! 5537 supersedes so we’re going to close this one |
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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-*.