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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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Update test_regulated_pp.cpp 
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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@SteveMacenski
SteveMacenski authored Jul 15, 2025
commit d8fb6356b14424846b88ab1615e36d83c6d684f0
4 changes: 2 additions & 2 deletions nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp
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Expand Up @@ -549,13 +549,13 @@ TEST(RegulatedPurePursuitTest, rotateTests)
// basic full speed at a speed
ctrl->rotateToHeadingWrapper(lin_v, ang_v, angle_to_path, curr_speed);
EXPECT_EQ(lin_v, 0.0);
EXPECT_EQ(ang_v, 1.8);
EXPECT_EQ(ang_v, 1.6); // hit slow down limit

// negative direction
angle_to_path = -0.4;
curr_speed.angular.z = -1.75;
ctrl->rotateToHeadingWrapper(lin_v, ang_v, angle_to_path, curr_speed);
EXPECT_EQ(ang_v, -1.8);
EXPECT_EQ(ang_v, -1.6); // hit slow down limit

// kinematic clamping, no speed, some speed accelerating, some speed decelerating
angle_to_path = 0.4;
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