Rotation Shim with MPPI behaviour different on setting closed_loop param in rotation shim

[YKT412]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• Computer:
  • Micro-Star International Co., Ltd. GF63 Thin 11UC
• ROS2 Version:
  • Humble
• Version or commit hash:
  • From source: output of git -C navigation2 rev-parse HEAD →
  • From apt: output of dpkg-query --show ros-humble-nav2-rotation-shim-controller →
• DDS implementation:
  • <e.g. Fast DDS, Cyclone DDS>

---

Steps to reproduce issue

1. Set up Nav2 with the rotation_shim_controller and nav2_mppi_controller.
2. In your config file, set closed_loop: false for the rotation_shim_controller.
3. Compare behavior between:
   • Source build of Nav2
   • APT-installed Nav2 (sudo apt install ros-humble-nav2-*)
4. Observe differences in behavior of the rotation shim when navigating.

---

Expected behavior

With closed_loop: false, If false, the rotationShimController will use the last commanded velocity as the next iteration’s current velocity. When acceleration limits are set appropriately and the robot’s controllers are responsive, this can be a good assumption. If true, it will use odometry to estimate the robot’s current speed. In this case it is important that the source is high-rate and low-latency to account for control delay.

---

Actual behavior

• When built from source: closed_loop has the expected effect on behavior.
• When installed via APT: closed_loop has no apparent effect; rotation shim behavior remains the same regardless of the setting.

---

Reproduction instructions

• Use the same navigation launch and parameter YAML file in both setups.
• Observe the rotation behavior before and after MPPI starts driving the robot.
• Compare log output or motion trace.

---

Additional information

It seems like the APT version of nav2_rotation_shim_controller might:

• Be outdated
• Not include the closed_loop param logic
• Or have it incorrectly wired or disabled

Please confirm whether this is expected due to version mismatch, or if it's a packaging issue.

[SteveMacenski]

What is the apt version you are using? That was not filled in the issue template. Then, I can look into it. It’s almost certainly just that the binaries need a new sync. This was merged about a month ago after the last sync: #5140

Please also describe the behavior that is changed from the binaries versus source

[YKT412]

sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringup
I am using these commands to install nav2 in humble.
behaviour:
when I am declaring the closed_loop paramter as true, the behaviour in rotation shim along with another controllers such as DWB or MPPI, causes the robot to rotate to goal or align is self at a fixed speed of 0.16rad/sec when i keep the parameter true, it rotates with the speed that is defined in the yaml file in the parameter rotate_to_heading_angular_vel

but when in apt version the robot rotates with the speed of 0.16rad/sec no matter whatever the closed_loop param is set to

[YKT412]

apt list --installed | grep ros-humble-navigation2

WARNING: apt does not have a stable CLI interface. Use with caution in scripts.

ros-humble-navigation2/jammy,now 1.1.18-1jammy.20250514.173003 amd64 [installed]

apt list --installed | grep ros-humble-nav2-bringup

WARNING: apt does not have a stable CLI interface. Use with caution in scripts.

ros-humble-nav2-bringup/jammy,now 1.1.18-1jammy.20250514.174321 amd64 [installed]

[SteveMacenski]

If you revert that commit, do you see the same behavior as the binaries?

It sounds to me like the source is just more up to date than the binaries. If you rely on that behavior, consider using a source build for the time being while that gets trickled into the binaries in the next sync.

[SteveMacenski]

Any update?