Add DWPP Description

[decwest]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	ros-navigation/navigation2#5591
Does this PR contain AI-generated software?	No

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Description of contribution in a few bullet points

• Updated the documentation to reflect implenmentation of DWPP in navigation2.
• Added descriptions of the parameters introduced for the DWPP implementation.

[SteveMacenski]

In the migration guide, we need to mention this change. I'd also put in the description a note that it is desired_linear_vel in Kilted and older.

[SteveMacenski]

@decwest last updates here are the migration guide entry for this change to add the feature + parameter renaming. This is important for folks to be aware of changes they need to make to their configurations when upgrading distributions and expose that there's this new feature they may want to try out.

[decwest]

@SteveMacenski
Understood. I’ll work on it.
Could you please let me know which file in the Migration Guide I should update?

https://docs.nav2.org/migration/index.html

[SteveMacenski]

This one :-) https://docs.nav2.org/migration/Kilted.html

[decwest]

@SteveMacenski
I updated the migration guide :)

[SteveMacenski]

LGTM, I just reduced the migration guide bit to be more concise, this should be an overview not a detailed blow by blow

Please also fix the merge conflicts

[SteveMacenski]

I think this is a bit too much - I appreciate the valuable contribution and I'm sure it'll have alot of great impact, but I think adding another feature to the controller is not quite amounting to prime authorship attribution. I had to think about this for a few minutes, and in all DWB/TEB/MPPI there have been contributions to add new features / capabilities, but we don't reflect all authors in those -- only the main author or team of authors that collaborated in the initial release development.

[decwest]

@SteveMacenski @mini-1235

Thank you for reviewing the documents.

I have fixed the merge conflicts and addressed the comments I received.
I would appreciate it if you could take a look when you have some time.

P.S. I am currently preparing a journal paper on DWPP, which includes real-robot experimental results comparing PP, APP, RPP, and DWPP using the Nav2 implementation :)
The submission deadline is January 21, so I am planning to upload a preprint to arXiv toward the end of this month and include the link in this document as well.

I would like to ask for your advice on one point.
Do you think it is realistic to have DWPP merged into the main branch by January 21?
If integration is possible, would it be acceptable to include a statement such as the following in the journal paper to highlight that DWPP has been integrated into Nav2?

The proposed method is integrated into the official Nav2 repository and is publicly available.

[SteveMacenski]

I approve, but the only thing I'd maybe suggest is in the use_dynamic_window parameter description entry, spend a couple of sentences explaining why this is valuable. I want people to look at this and understand why your awesome work might be good for them to enable and configure :-)

I think some brass-tacks concise explanation of what it does and the value would be good for others in the future.

Once merged, it might be good to put https://github.com/Decwest/nav2_dynamic_window_pure_pursuit_controller to a public archive and in the readme point people to Nav2's implementation since that'll be kept up to date from here on out with new features / fixes :-)

[SteveMacenski]

Do you think it is realistic to have DWPP merged into the main branch by January 21?

Yes, it is realistic. I plan to review your PR again tomorrow.

If integration is possible, would it be acceptable to include a statement such as the following in the journal paper to highlight that DWPP has been integrated into Nav2?

It depends on the wording, but broadly speaking, yes! :-)

[decwest]

@SteveMacenski
Thank you for checking.
I added a concise explanation of the function and its value to the use_dynamic_window description entry.

docs.nav2.org/configuration/packages/configuring-regulated-pp.rst

Line 424 in 78081ab

Whether to use the Dynamic Window Pure Pursuit (DWPP) Algorithm. This algorithm computes command velocities that track the path as accurately as possible while respecting velocity and acceleration constraints. It automatically slows down in sharp turns without manual tuning, reducing path tracking errors.

Also, I will move my DWPP Nav2 plugin repository to a public archive after this is merged!

[decwest]

Do you think it is realistic to have DWPP merged into the main branch by January 21?

Yes, it is realistic. I plan to review your PR again tomorrow.

If integration is possible, would it be acceptable to include a statement such as the following in the journal paper to highlight that DWPP has been integrated into Nav2?

It depends on the wording, but broadly speaking, yes! :-)

Thank you very much for taking the time to review my PR despite your busy schedule. I also sincerely appreciate your permission to mention the Nav2 integration in the paper.

I am planning to add the following sentence to the abstract, introduction, and conclusion of the paper:

The proposed method has been integrated into the official Nav2 repository and is publicly available. https://github.com/ros-navigation/navigation2

In addition, of course, I will include an acknowledgment for the Nav2 maintainers.

Would this be okay with you?

[SteveMacenski]

Sounds good to me