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Sprints

Sprint spotlights for the Navigation area, generated every week from the project board and reviewed by the area PM before merging. Newest sprint first.

Status legend:

  • 💻 Development
  • 🔍 Research
  • 📝 Documentation
  • 🔧 Bug fixing

Sprint 5 · 2026-11-02 → 2026-11-22

Sprint plan

8 tasks planned for this sprint.

Review:

  • Angela Camila Tite Haro, Jeremy Martino 🔍 Research motion planning in navigation (P1, #1190)

Testing:

  • Jeremy Martino 💻 Nav Refactor (P0, #1194)
  • Jared AlPa 💻 Rescue the unmerged laundry nav work (P0, #1196)

In Progress:

  • Jasiel Aldana Palacios 💻 Look for ways to improve navigation in unmapped areas. (P2, #1198)
  • Jeremy Martino 💻 Test navigation performance with 4-wheel base (P0, #1347)
  • Angela Camila Tite Haro 🔍 Investigate and implement a simulation of the current navigation stack on Unitree G1 (#1463)

Todo:

  • Angela Camila Tite Haro 🔧 Review the follow person feature and either fix or finish it. (P2, #1197)

Backlog:

  • Jeremy Martino 💻 Investigate ways to improve mapping (P1, #1318)

Sprint 4 · 2026-10-12 → 2026-11-01

Sprint results

4/5 tasks done (80%).

Sprint 4 for Navigation focused on writing the Technical Description Paper (TDP) sections. The team successfully delivered the nav stack, omnibase, semantic navigation, approach planner, limitations, future work, and annex sections. Only the navigation experiments and metrics remain in progress, specifically pending real-robot trials while simulation results are completed.

Done:

  • Jeremy Martino 💻 TDP: write nav stack and omnibase section (#1393)
  • Angela Camila Tite Haro 💻 TDP: write semantic navigation section (#1394)
  • Jasiel Aldana Palacios 💻 TDP: write approach planner section (#1395)
  • Angela Camila Tite Haro 💻 TDP: nav limitations, future work and annex (#1398)

Carried over:

  • Jared AlPa 💻 TDP: nav experiments and metrics (In Progress, #1396)

Sprint 3 · 2026-09-21 → 2026-10-11

Sprint plan

5 tasks planned for this sprint.

In Progress:

  • Jeremy Martino 🔍 Research motion planning in navigation (P1, #1190)

Todo:

  • Jeremy Martino 💻 Nav Refactor (P0, #1194)

Backlog:

  • Jared AlPa 💻 Remove or revive the nav_goal_arm_pointer dead path (P0, #1146)
  • Unassigned 💻 Look for ways to improve navigation in unmapped areas. (P2, #1198)
  • Jeremy Martino 💻 Investigate ways to improve mapping (P1, #1318)

Week 1 · 2026-09-21 → 2026-10-02

Done this week:

  • Angela Camila Tite Haro, Jeremy Martino 💻 Finish migrating navigation images to Jazzy (#1324)

Review:

  • Jared AlPa 💻 Remove or revive the nav_goal_arm_pointer dead path (P0, #1146)

In Progress:

  • Jeremy Martino 🔍 Research motion planning in navigation (P1, #1190)
  • Jeremy Martino 💻 Nav Refactor (P0, #1194)

Updates:

  • Jeremy Martino 🔍 Research motion planning in navigation (P1, #1190): The team researched motion planning solutions, recommending region goals, footprint-aware collision checking, safety filters, and distance-based settings.
  • Jeremy Martino 💻 Nav Refactor (P0, #1194): The nav_central refactor reduced code duplication, fixed several bugs, and decided to keep the orchestrator node in Python.
  • Angela Camila Tite Haro, Jeremy Martino 💻 Finish migrating navigation images to Jazzy (#1324): 1 new comment

Not started: 1 task.

Week 2 · 2026-10-03 → 2026-10-09

Done this week:

  • Jared AlPa 💻 Remove or revive the nav_goal_arm_pointer dead path (P0, #1146)

Testing:

  • Jeremy Martino 💻 Nav Refactor (P0, #1194)

In Progress:

  • Angela Camila Tite Haro, Jeremy Martino 🔍 Research motion planning in navigation (P1, #1190)
  • Jeremy Martino 💻 Test navigation performance with 4-wheel base (P0, #1347)

Not started: 1 task.

Sprint 2 · 2026-08-31 → 2026-09-20

Sprint plan

3 tasks planned for this sprint.

Testing:

  • Jared AlPa 💻 Rescue the unmerged laundry nav work (P0, #1196)

In Progress:

  • Jeremy Martino, Jasiel Aldana Palacios 💻 Migrate Nav2 to Jazzy (#1192)
  • Angela Camila Tite Haro 💻 Migrate slam_toolbox and lidar drivers to Jazzy (#1193)

Week 1 · 2026-08-31 → 2026-09-06

Testing:

  • Jared AlPa 💻 Rescue the unmerged laundry nav work (P0, #1196)

In Progress:

  • Jeremy Martino, Jasiel Aldana Palacios 💻 Migrate Nav2 to Jazzy (#1192)
  • Angela Camila Tite Haro 💻 Migrate slam_toolbox and lidar drivers to Jazzy (#1193)

Sprint results

3/4 tasks done (75%) · P0: 0/1.

This sprint focused on migrating software and resolving control issues. The team successfully migrated Nav2, slam_toolbox, and lidar drivers to Jazzy, and fixed FRIDA not moving when control is enabled. However, the P0 task to rescue the unmerged laundry nav work is still in testing.

Done:

  • Jeremy Martino, Jasiel Aldana Palacios 💻 Migrate Nav2 to Jazzy (#1192)
  • Angela Camila Tite Haro 💻 Migrate slam_toolbox and lidar drivers to Jazzy (#1193)
  • Jeremy Martino 💻 Fix FRIDA not moving when control is enabled (P1, #1291)

Carried over:

  • Jared AlPa 💻 Rescue the unmerged laundry nav work (Testing, P0, #1196)

Sprint 1 · 2026-08-10 → 2026-08-30

Sprint results

4/5 tasks done (80%) · P0: 2/3.

Done:

  • Angela Camila Tite Haro 💻 Clean nav branches (P0, #1144)
  • Jared AlPa 💻 Move dashgo (P2, #1145)
  • Angela Camila Tite Haro 🔧 Rotate lidars (P0, #1180)
  • Jasiel Aldana Palacios 💻 Delete old maps and areas (P2, #1191)

Carried over:

  • Gerardo Fregoso Jiménez, Angela Camila Tite Haro 💻 Remove or revive the nav_goal_arm_pointer dead path (Backlog, P0, #1146)