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Predictive inflation #5731

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@DESpear262 DESpear262 commented Nov 27, 2025

Basic Info

Info Please fill out this column
Ticket(s) this addresses #1597 (Still listed as open with the last activity in 2020?) Also relevant to the broad strategy laid out in #1278
Primary OS tested on WSL running Ubuntu 24.04
Robotic platform tested on gazebo simulation
Does this PR contain AI generated software? Yes, this PR was entirely generated by AI. If you'd like inline comments to that effect added to the PR, let me know and I'll do that.
Was this PR description generated by AI software? No, this was entirely written by hand

Description of contribution in a few bullet points

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:

  • Check that any new parameters added are updated in docs.nav2.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
  • Should this be backported to current distributions? If so, tag with backport-*.

DESpear262 and others added 3 commits November 25, 2025 12:30
@DESpear262
Verify InflationLayer extensibility with unit test
05b2678 
- Added unit test  to verify inheritance and protected member access
- Updated  to mark Task 2.1 as complete
- Confirmed  is extensible for  implementation
@DESpear262
Implement Predictive Inflation Layer Plugin
7faf6c1 
- Implements `PredictiveInflationLayer` extending `InflationLayer`.
- Adds directional cost modulation based on robot heading (Forward/Side/Rear weights).
- Adds speed-dependent inflation scaling.
- Implements "Max-Radius" expansion strategy for safe bounding box updates.
- Registers plugin in `costmap_plugins.xml`.
- Adds unit tests covering directional logic, expansion, and backward compatibility.
@DESpear262
Merge pull request #1 from DESpear262/main
20e34dc 
Implement Predictive Inflation Layer Plugin
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@DESpear262