From 1e5a44ff5ec75b72574c792231266133fcdaad58 Mon Sep 17 00:00:00 2001 From: Ron Danon Date: Sat, 21 Mar 2026 12:30:41 +0200 Subject: [PATCH] Add OMNI analytic expansion migration guide entry for Kilted Add documentation for PR #5965 which adds omnidirectional (OMNI) analytic expansion support to SmacPlannerLattice, with before/after images illustrating the path improvement for holonomic robots. Signed-off-by: Ron Danon --- migration/Kilted.rst | 29 ++++++++++++++++++ .../images/smac_lattice_omni_after_1.png | Bin 0 -> 15923 bytes .../images/smac_lattice_omni_after_2.png | Bin 0 -> 14583 bytes .../images/smac_lattice_omni_before_1.png | Bin 0 -> 15474 bytes .../images/smac_lattice_omni_before_2.png | Bin 0 -> 16560 bytes 5 files changed, 29 insertions(+) create mode 100644 migration/images/smac_lattice_omni_after_1.png create mode 100644 migration/images/smac_lattice_omni_after_2.png create mode 100644 migration/images/smac_lattice_omni_before_1.png create mode 100644 migration/images/smac_lattice_omni_before_2.png diff --git a/migration/Kilted.rst b/migration/Kilted.rst index d3bd74ef37..ab5cfc714b 100644 --- a/migration/Kilted.rst +++ b/migration/Kilted.rst @@ -804,6 +804,35 @@ Add support for switching between SMAC planners Prior to `PR 5840 `_, switching between SMAC planners at runtime was not supported due to static variables in the SMAC planner implementations causing conflicts when multiple instances were created. The PR addressed this issue by refactoring the SMAC planner code to eliminate the use of static variables, allowing multiple instances of different SMAC planners to coexist without conflicts. +OMNI Analytic Expansion Support in SmacPlannerLattice +----------------------------------------------------- + +`PR #5965 `_ adds omnidirectional (OMNI) analytic expansion support to ``SmacPlannerLattice``. +When a lattice primitives file specifies ``motion_model: "omni"`` in its metadata, the planner now automatically: + +- Uses ``SE2StateSpace`` (straight-line with linear heading interpolation) instead of Dubins/Reeds-Shepp for analytic expansion and distance heuristics +- Skips turning-radius refinement in analytic path expansion (SE2 paths are radius-independent) +- Configures the path smoother in holonomic mode +- Disables ``allow_reverse_expansion`` with a warning (meaningless for omnidirectional robots) + +No parameter changes are required — the OMNI motion model is auto-detected from the lattice file metadata. + +Before: + +.. image:: images/smac_lattice_omni_before_1.png + :width: 418 + +.. image:: images/smac_lattice_omni_before_2.png + :width: 418 + +After: + +.. image:: images/smac_lattice_omni_after_1.png + :width: 418 + +.. image:: images/smac_lattice_omni_after_2.png + :width: 418 + New bt_log_idle_transitions parameter in bt_navigator ----------------------------------------------------- diff --git a/migration/images/smac_lattice_omni_after_1.png b/migration/images/smac_lattice_omni_after_1.png new file mode 100644 index 0000000000000000000000000000000000000000..2d15b013331a30cd8ad3f5d530d04c16bcc6d9f4 GIT binary patch literal 15923 zcmZv@1zc2J_s0v;T}lW7lA;nr4=I9#q=d8}-8J+O0*{20fTV*3imh--hclOc0yzbzS}gjqDD

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