Skip to content

build: re-pin navigation (Viz v2 + MPPI tuner) #24

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
rxdu wants to merge 2 commits into
base: main
Choose a base branch
from
Open

build: re-pin navigation (Viz v2 + MPPI tuner) #24

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
50dbba4
build: re-pin navigation (Viz v2: quickviz migration + MPPI tuner)
rxdu Jul 7, 2026
87947ec
build: re-pin navigation at post-Viz-v2 devel (CUDA M4 + control pass)
rxdu Jul 8, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 3 additions & 2 deletions TODO.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,9 @@ The task tracker for the family. Cross-repo sequencing lives here; each componen
- [x] W4: telemetry instrumentation across all areas (nav #59)
- [x] W5: xmBase v0.4.0 released; umbrella re-pin + full assembly green (#22); **xmNavigation v0.2.0 released** — the algorithm-centric migration arc is COMPLETE
- [x] Umbrella: re-pin xmNavigation; `XMOTION_WITH_NAVIGATION=ON` — full assembly green (#22)
- [ ] Viz v2: migrate nav viz to the restructured quickviz (canvas/viewer/plot/scene; cvdraw retired upstream); interactive tuner; evaluate scene/ 3D for SRB + OccupancyGrid renderable (quickviz #30 stb-guard is a precondition)
- [ ] MPPI M4: CUDA backend for dGPU/Jetson Orin (blocked: CUDA toolkit install + reboot on dev machine)
- [x] Viz v2 COMPLETE (nav #61): quickviz migration (cvdraw → image/) + interactive MPPI tuner (cairo alpha-fan world view, live ESS/cost plots, pause/step + λ/σ sliders); still open: quickviz #30 merge (merge-commit, NOT squash — nav pins 318daf4 from that branch), scene/ 3D for SRB + OccupancyGrid renderable
- [x] MPPI M4a–c COMPLETE (nav #62/#63): rollout-backend seam + threaded CPU backend; CUDA backends (wheeled + SRB programs over shared raw-span cores, float32) + on-device Philox sampling — wheeled end-to-end 0.14 ms @K=2048 / 9.4 ms @K=131072 on GTX 1660 Ti; remaining M4d: device spline-knot sampling for SRB, Jetson Orin deployment/profiling, robot trial
- [x] control folder pass (nav #64/#65/#66): fsm → vendored ctfsm v0.2.0 submodule; safety shield (envelope + ctfsm fallback ladder + CBF-QP barrier, scenario-driven S1–S6); model zoo consolidated into control/models (BicycleAccelModel + dep-free RK4, boost::odeint out of control/); follow-ups: PID production pass, boost removal from state_lattice + reachability internals, S5 quadruped GRF cone shield
- [x] Rename component repos + umbrella submodule paths to function words; register xmTelemetry submodule (PR #12)

## Next arc (after the xmNavigation refactor)
Expand Down
2 changes: 1 addition & 1 deletion components/navigation
Open in desktop
Submodule navigation updated 84 files
+3 −0 .gitmodules
+4 −1 CMakeLists.txt
+36 −0 docs/control/safety_shield.md
+9 −0 docs/typst/bibliography.bib
+ − docs/typst/mppi.pdf
+5 −1 docs/typst/mppi.typ
+7 −1 src/control/CMakeLists.txt
+1 −0 src/control/fsm
+0 −15 src/control/fsm/CMakeLists.txt
+0 −62 src/control/fsm/include/xmnav/fsm/fsm_template.hpp
+0 −25 src/control/model/CMakeLists.txt
+0 −67 src/control/model/include/xmnav/model/bicycle_model.hpp
+0 −65 src/control/model/include/xmnav/model/bicycle_velocity_model.hpp
+0 −46 src/control/model/include/xmnav/model/point_model.hpp
+0 −37 src/control/model/include/xmnav/model/system_propagator.hpp
+0 −30 src/control/model/include/xmnav/model/unicycle_model.hpp
+0 −12 src/control/model/test/CMakeLists.txt
+0 −31 src/control/model/test/test_bicycle_kin.cpp
+0 −53 src/control/model/test/test_propagator.cpp
+0 −36 src/control/model/test/test_propagator2.cpp
+26 −0 src/control/models/CMakeLists.txt
+3 −3 src/control/models/include/xmnav/models/ackermann.hpp
+48 −0 src/control/models/include/xmnav/models/bicycle_accel.hpp
+22 −0 src/control/models/include/xmnav/models/device.hpp
+9 −6 src/control/models/include/xmnav/models/diff_drive.hpp
+3 −3 src/control/models/include/xmnav/models/double_integrator.hpp
+154 −0 src/control/models/include/xmnav/models/model_core.hpp
+41 −0 src/control/models/include/xmnav/models/rk4.hpp
+22 −33 src/control/models/include/xmnav/models/srb_quadruped.hpp
+3 −0 src/control/models/test/CMakeLists.txt
+99 −0 src/control/models/test/test_models.cpp
+30 −1 src/control/mppi/CMakeLists.txt
+87 −0 src/control/mppi/include/xmnav/mppi/critic_core.hpp
+15 −9 src/control/mppi/include/xmnav/mppi/critics.hpp
+8 −15 src/control/mppi/include/xmnav/mppi/critics_srb.hpp
+177 −0 src/control/mppi/include/xmnav/mppi/cuda/cuda_rollout_backend.hpp
+49 −0 src/control/mppi/include/xmnav/mppi/cuda/kernels.hpp
+37 −0 src/control/mppi/include/xmnav/mppi/cuda/rollout_config.hpp
+99 −0 src/control/mppi/include/xmnav/mppi/cuda/srb_program.hpp
+78 −0 src/control/mppi/include/xmnav/mppi/cuda/wheeled_program.hpp
+86 −29 src/control/mppi/include/xmnav/mppi/mppi.hpp
+222 −0 src/control/mppi/include/xmnav/mppi/rollout_backend.hpp
+457 −0 src/control/mppi/src/cuda_rollout_backend.cpp
+169 −0 src/control/mppi/src/cuda_rollout_backend.cu
+6 −0 src/control/mppi/test/CMakeLists.txt
+2 −2 src/control/mppi/test/test_mppi_control.cpp
+74 −1 src/control/mppi/test/test_mppi_core.cpp
+438 −0 src/control/mppi/test/test_mppi_cuda.cpp
+1 −1 src/control/mppi/test/test_mppi_introspection.cpp
+1 −1 src/control/mppi/test/test_mppi_quadruped.cpp
+2 −2 src/control/mppi/test/test_mppi_samplers.cpp
+30 −0 src/control/shield/CMakeLists.txt
+58 −0 src/control/shield/include/xmnav/shield/command_envelope.hpp
+160 −0 src/control/shield/include/xmnav/shield/diff_drive_barrier.hpp
+149 −0 src/control/shield/include/xmnav/shield/fallback_ladder.hpp
+45 −0 src/control/shield/include/xmnav/shield/report.hpp
+142 −0 src/control/shield/include/xmnav/shield/wheeled_shield.hpp
+3 −0 src/control/shield/test/CMakeLists.txt
+234 −0 src/control/shield/test/test_shield_scenarios.cpp
+1 −1 src/decision/reachability/CMakeLists.txt
+5 −4 src/decision/reachability/include/xmnav/reachability/monte_carlo_sim.hpp
+6 −1 src/decision/reachability/src/monte_carlo_sim.cpp
+1 −1 src/mapping/map_processing/test/test_occupancy_map.cpp
+1 −1 src/mapping/map_processing/test/test_traj_processor.cpp
+6 −0 src/simulation/demos/CMakeLists.txt
+1 −1 src/simulation/demos/demo_mppi_diffdrive.cpp
+1 −1 src/simulation/demos/demo_srb_quadruped.cpp
+320 −0 src/simulation/demos/tuner_mppi_diffdrive.cpp
+1 −1 src/simulation/test/test_sim_loop.cpp
+2 −1 src/visualization/CMakeLists.txt
+2 −2 src/visualization/include/xmnav/viz/curvilinear_grid_visual.hpp
+1 −1 src/visualization/include/xmnav/viz/dense_grid_visual.hpp
+1 −1 src/visualization/include/xmnav/viz/geometry_draw.hpp
+1 −1 src/visualization/include/xmnav/viz/lattice_draw.hpp
+1 −1 src/visualization/include/xmnav/viz/mppi_draw.hpp
+174 −0 src/visualization/include/xmnav/viz/mppi_draw_cairo.hpp
+1 −1 src/visualization/include/xmnav/viz/rrt_draw.hpp
+1 −1 src/visualization/include/xmnav/viz/sim_viewer.hpp
+1 −1 src/visualization/include/xmnav/viz/square_grid_visual.hpp
+1 −1 src/visualization/include/xmnav/viz/style.hpp
+1 −1 src/visualization/src/lattice_viz.cpp
+1 −1 src/visualization/test/test_mppi_draw.cpp
+10 −2 third_party/CMakeLists.txt
+1 −1 third_party/quickviz