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Make sure fixed curvature lookahead distance doesn't overshoot distance to cusp with RPP controller (backport #5134) #5135

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Merged
SteveMacenski merged 1 commit into from
May 8, 2025
Merged

Make sure fixed curvature lookahead distance doesn't overshoot distance to cusp with RPP controller (backport #5134) #5135

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6 changes: 5 additions & 1 deletion nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -187,6 +187,7 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity

// Find look ahead distance and point on path and publish
double lookahead_dist = getLookAheadDistance(speed);
double curv_lookahead_dist = params_->curvature_lookahead_dist;

// Check for reverse driving
if (params_->allow_reversing) {
Expand All @@ -197,6 +198,9 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
if (dist_to_cusp < lookahead_dist) {
lookahead_dist = dist_to_cusp;
}
if (dist_to_cusp < curv_lookahead_dist) {
curv_lookahead_dist = dist_to_cusp;
}
}

// Get the particular point on the path at the lookahead distance
Expand All @@ -211,7 +215,7 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
double regulation_curvature = lookahead_curvature;
if (params_->use_fixed_curvature_lookahead) {
auto curvature_lookahead_pose = getLookAheadPoint(
params_->curvature_lookahead_dist,
curv_lookahead_dist,
transformed_plan, params_->interpolate_curvature_after_goal);
rotate_to_path_carrot_pose = curvature_lookahead_pose;
regulation_curvature = calculateCurvature(curvature_lookahead_pose.pose.position);
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