Skip to content

OpenMP-based inflation layer#5933

Draft
tonynajjar wants to merge 6 commits intoros-navigation:mainfrom
botsandus:openmp-inflation-layer
Draft

OpenMP-based inflation layer#5933
tonynajjar wants to merge 6 commits intoros-navigation:mainfrom
botsandus:openmp-inflation-layer

Conversation

@tonynajjar
Copy link
Contributor

@tonynajjar tonynajjar commented Feb 4, 2026 •
edited
Loading

Basic Info

Info Please fill out this column
Ticket(s) this addresses (add tickets here #1)
Primary OS tested on (Ubuntu, MacOS, Windows)
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software? (No; Yes and it is marked inline in the code)
Was this PR description generated by AI software? Out of respect for maintainers, AI for human-to-human communications are banned

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-*.

@tonynajjar
Add inflation benchmark script and enhance inflation tests
78af458 
- Introduced a new script `run_inflation_benchmark.sh` to facilitate running benchmarks for the inflation layer's updateCosts functionality with various scenarios and custom parameters.
- Improved the inflation validation logic in `inflation_tests.cpp` to ensure correct cost application based on Euclidean distance from obstacles.
- Added a new test case `testLargeScaleInflation` to evaluate inflation performance and correctness on a large map with a significant obstacle, ensuring comprehensive coverage of inflation behavior.

Signed-off-by: Tony Najjar <[email protected]>
@tonynajjar tonynajjar changed the title Add inflation benchmark script and enhance inflation tests OpenMP-based inflation layer Feb 4, 2026
@tonynajjar
lint
a0e3e54 
Signed-off-by: Tony Najjar <[email protected]>
@tonynajjar
lint
69b1594 
Signed-off-by: Tony Najjar <[email protected]>
@tonynajjar
cmake fixes
2441ef9 
Signed-off-by: Tony Najjar <[email protected]>
@tonynajjar
comment out large test
afde8c4 
Signed-off-by: Tony Najjar <[email protected]>
@tonynajjar
improve benchmark
01201af 
Signed-off-by: Tony Najjar <[email protected]>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

1 participant

@tonynajjar