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v0.2.0

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@rsasaki0109 rsasaki0109 released this 03 Jun 11:05
· 121 commits to main since this release
v0.2.0
3281748

Learned models, end to end.

  • ONNX inference backend (nav2_diffusion_onnx, optional) behind the TrajectoryModel pluginlib seam.
  • Controller model selection at runtime via model_plugin / model_path — no inference lib linked into core/controller.
  • Training pipeline: rosbag / rule-based expert → dataset → PyTorch → ONNX export, matching the backend I/O contract (round trip tested).
  • RViz visualization: candidate markers (best/safe/rejected + rejection text) and SafetyState.
  • Benchmark suite: metrics, safety-first score, leaderboard, aggregation, YAML scenarios, runner.

Verified on ROS 2 Jazzy (colcon build/test, 0 failures). See CHANGELOG.md. Not a safety-certified product; see docs/safety.md.

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