PathPlannerLib Changelog

PathPlannerLib Beta v2023.1.0

• Added custom path following commands to C++ version
• Added support for multiple events per marker
• Added support for new "stop events"
• Added new AutoBuilder functionality to generate full autonomous routines from path files
• Removed event triggering from path following commands. This was not safe to use in command groups. This has been replaced with the FollowPathWithEvents command that will wrap the path following command and run events. This new command is safe to use in groups.

PathPlannerLib Beta v2023.0.1

• Fixed a PathPlannerLib server crash
• Added getEndWaitTime methods to trajectories to get the wait time that was configured in the GUI
• Added fromCurrentHolonomicState and fromCurrentDifferentialState helper methods to the PathPoint class that will return a PathPoint with the current position, heading, velocity, etc of the robot
• Fixed holonomic rotation not correctly passing the -180/180 barrier
• Added empty PathPlannerTrajectory constructor

PathPlannerLib Beta v2023.0.0

• Added functionality to get event markers for a path. The getMarkers method will return a list of all markers on a path. These markers will have a name, time, and position associated with them that can be used in path following commands to trigger other code
• Added the ability to load a path as a path group. A path file will be split into multiple paths based on the waypoints marked as stop points. If a path with stop points is loaded as a normal path, the robot will not stop at stop points
• Added holonomic angular velocity to path states
• Added getConstraintsFromPath method to allow loading path constraints from a path file. This allows path velocity and acceleration to be changed without rebuilding code
• Added custom PPHolonomicDriveController that:
  • Uses PathPlanner paths directly
  • Uses holonomic angular velocity as a feedforward for rotation
  • Automatically configures continuous input for the rotation PID controller
• Added custom PPSwerveControllerCommand, PPMecanumControllerCommand, PPRamseteCommand, PPLTVUnicycleCommand, PPLTVDifferentialDriveCommand commands (Java only for now) that:
  • Use PathPlanner paths directly
  • Automatically triggers commands from given "event map" when reaching event markers
  • Pushes a Field2d and error data to SmartDashboard for debugging
  • Sends path following data over the PathPlannerLib server for visualization within PathPlanner
• Added generatePath methods for on-the-fly generation from a list of points
• Added the ability to run a “PathPlannerLib server” (java only for now). When connected to the PathPlanner GUI, this will automatically update paths on the robot when edited in PathPlanner, and will display visualizations in PathPlanner of the current path, target pose, and actual robot pose while path following
• Added getInitialHolonomicPose method that can be used to reset holonomic odometry at the beginning of a path
• Other minor fixes and improvements