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Path segment pr #293

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Merged
SteveMacenski merged 3 commits into from
Mar 21, 2022
Merged

Path segment pr #293

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1bf7b86
update dwb prune_distance default
Aposhian Mar 21, 2022
e0faba0
add max_robot_pose_search_dist
Aposhian Mar 21, 2022
b527cbe
formatting
Aposhian Mar 21, 2022
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12 changes: 12 additions & 0 deletions configuration/packages/configuring-regulated-pp.rst
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Expand Up @@ -222,6 +222,17 @@ Regulated Pure Pursuit Parameters
Description
Maximum allowable angular acceleration (rad/s/s) while rotating to heading, if ``use_rotate_to_heading`` is ``true``.

:max_robot_pose_search_dist:

============== =================================================
Type Default
-------------- -------------------------------------------------
double Local costmap max extent (max(width, height) / 2)
============== =================================================

Description
Upper bound on integrated distance along the global plan to search for the closest pose to the robot pose. This should be left as the default unless there are paths with loops and intersections that do not leave the local costmap, in which case making this value smaller is necessary to prevent shortcutting.

Example
*******
.. code-block:: yaml
Expand Down Expand Up @@ -266,3 +277,4 @@ Example
allow_reversing: false
rotate_to_heading_min_angle: 0.785
max_angular_accel: 3.2
max_robot_pose_search_dist: 10.0
2 changes: 1 addition & 1 deletion configuration/packages/dwb-params/controller.rst
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Expand Up @@ -57,7 +57,7 @@ Parameters
====== =======
Type Default
------ -------
double 1.0
double 2.0
====== =======

Description
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