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add use_interpolation parameter for rpp #299

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Merged
SteveMacenski merged 2 commits into from
Mar 31, 2022
Merged

add use_interpolation parameter for rpp #299

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32585ff
add use_interpolation parameter for rpp
Aposhian Mar 30, 2022
e467427
default use_interpolation to true
Aposhian Mar 30, 2022
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12 changes: 12 additions & 0 deletions configuration/packages/configuring-regulated-pp.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -233,6 +233,17 @@ Regulated Pure Pursuit Parameters
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.

:use_interpolation:

============== =============================
Type Default
-------------- -----------------------------
bool true
============== =============================

Description
Enable linear interpolation between poses for lookahead point selection. Leads to smoother commanded linear and angular velocities.

Example
*******
.. code-block:: yaml
Expand Down Expand Up @@ -278,3 +289,4 @@ Example
rotate_to_heading_min_angle: 0.785
max_angular_accel: 3.2
max_robot_pose_search_dist: 10.0
use_interpolation: false