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Adding slow down at target heading to RPP Controller #5361

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Merged
merged 2 commits into from
Jul 15, 2025
Merged

Adding slow down at target heading to RPP Controller #5361

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8012938
Adding slow down at target heading to RPP
SteveMacenski Jul 15, 2025
d8fb635
Update test_regulated_pp.cpp
SteveMacenski Jul 15, 2025
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Adding slow down at target heading to RPP 
Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
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@SteveMacenski
SteveMacenski committed Jul 15, 2025
commit 8012938950ba709724dd785b16df9685c44dd548
6 changes: 6 additions & 0 deletions nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
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Expand Up @@ -350,6 +350,12 @@ void RegulatedPurePursuitController::rotateToHeading(
const double min_feasible_angular_speed = curr_speed.angular.z - params_->max_angular_accel * dt;
const double max_feasible_angular_speed = curr_speed.angular.z + params_->max_angular_accel * dt;
angular_vel = std::clamp(angular_vel, min_feasible_angular_speed, max_feasible_angular_speed);

// Check if we need to slow down to avoid overshooting
double max_vel_to_stop = std::sqrt(2 * params_->max_angular_accel * fabs(angle_to_path));
if (fabs(angular_vel) > max_vel_to_stop) {
angular_vel = sign * max_vel_to_stop;
}
}

geometry_msgs::msg::Point RegulatedPurePursuitController::circleSegmentIntersection(
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