Implementation of Dynamic Window Pure Pursuit (DWPP)

[decwest]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Successor of #5591 (due to signed-off issue)
Primary OS tested on	Ubuntu 24.04 (ROS2 rolling)
Robotic platform tested on	gazebo simulation of turtlebot3_waffle, real robot experiment using WHILL Model CR
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

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Description of contribution in a few bullet points

• Implement DWPP as an extension to the current RPP implementation

Description of documentation updates required from your changes

• Added new parameter, so need to add that to default configs and documentation page

Added Parameters

• max_linear_vel (rename of desired_linear_vel) (double): maximum linear velocity (m/s)
• min_linear_vel (double): minimum linear velocity(m/s)
• max_angular_vel (rename of desired_angular_vel) (double): maximum angular velocity (rad/s)
• min_angular_vel (double): minimum angular velocity (rad/s)
• max_linear_accel (double): maximum linear acceleration (m/s²)
• max_linear_decel (double): maximum linear deceleration (m/s²)
• max_angular_decel (double): maximum angular deceleration (m/rad²)
• use_dynamic_window (bool): enable DWPP

Description of how this change was tested

• Built a simulation environment that allows comparison between different methods, and verified the implementation and effectiveness of DWPP
  • Docker environment: https://github.com/Decwest/dwpp_test_environment/tree/feature/nav2_integration
  • Nav2 parameter file used during simulation: https://github.com/Decwest/dwpp_test_simulation/blob/b90e1c0e43885f1146b16cff64f4358b5907b110/params/test_params.yaml

Simulation video

DWPP_simulation.mp4

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Future work that may be required in bullet points

• Discussion and modification regarding the renaming of Regulated Pure Pursuit
• Documentation update

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.

[codecov]

Codecov Report

❌ Patch coverage is 99.18699% with 1 line in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
..._pure_pursuit_controller/src/parameter_handler.cpp	97.77%	1 Missing ⚠️

Files with missing lines	Coverage Δ
...ntroller/dynamic_window_pure_pursuit_functions.hpp	100.00% <100.00%> (ø)
...t_controller/regulated_pure_pursuit_controller.hpp	100.00% <ø> (ø)
...ntroller/src/regulated_pure_pursuit_controller.cpp	87.64% <100.00%> (+1.28%)	⬆️
..._pure_pursuit_controller/src/parameter_handler.cpp	92.92% <97.77%> (+1.57%)	⬆️

... and 28 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[SteveMacenski]

@mini-1235 please review in particular dynamic_window_pure_pursuit_functions.hpp and the reference paper. I think it would be both good for you to understand this later on for maintenance and for you to validate these as correctly implemented (and generally you find it useful).

I will do the same

[decwest]

@mini-1235
Thank you in advance.
I have sent my paper to you by email.
I would appreciate it if you could take a look at it when you have time.

[mini-1235]

Thanks @decwest, I have received it. I will take a look at the PR shortly

[mini-1235]

Thanks for the detailed explanations! This PR looks good to me

[mini-1235]

docs PR: ros-navigation/docs.nav2.org#802

[mergify]

This pull request is in conflict. Could you fix it @decwest?

[SteveMacenski]

Otherwise LGTM

[SteveMacenski]

LGTM!

Last steps:

1. I'd like you to put together a demo video / gif for this feature. This should be put into the migration guide and I think it would be nice to highlight this in an announcement to the community so something graphic is always nice
2. Do some final testing to validate that the performance you expect is still happening after this refactor (like whatever you used to generate that gif in your README). Actually that gif itself might be nice to use for the graphic - just as a video and sped up a bit 🙃

[decwest]

@SteveMacenski
Got it, thanks! I have already run experiments using the refactored code for the paper, and I confirmed that it works correctly as part of the full Nav2 system and that DWPP still outperforms the conventional methods.

Here are the experiment videos:

Simulation results:
https://youtu.be/fIKk4Q_rvLM

Real-robot experiment results:
https://youtu.be/H6r3x1AhsjM

Regarding the GIF, I am thinking of using the DWPP result on Path C from the videos above, where the difference is especially clear. Which do you think would be better to use, the simulation video or the real-robot video?

[SteveMacenski]

Path C from the videos above

Makes sense!

I'm going to merge this now just to meet your deadline, but please follow up with another docs PR including that video as a gif in the migration guide entry & embedding the actual youtube link into the configuration guide page (then I can also use that video to promote 😉 )

[decwest]

@SteveMacenski
Thank you so much for merging my contribution! I'm truly honored.
I submitted the paper, and it will also be available on arXiv in a few days.

I’ve also opened a PR for the docs: ros-navigation/docs.nav2.org#856
Changes include:

• Migration Guide: Added a GIF.
• Configuration Guide: Added YouTube links and citation info (I will update this once the arXiv link is available).

[decwest]

I have one more thing I'd like to discuss.
Is it possible to backport this feature to Kilted and Jazzy as well? I'd like to do so if permitted.

[SteveMacenski]

This PR changes key configuration parameters / names so I don't think this can be backported into existing distributions unfortunately :(

[decwest]

That makes sense, I understand. Thank you for your consideration.

[decwest]

I would like to update this description to reflect the latest paper published on arXiv.
May I create a new pull request for this?

[SteveMacenski]

Sure :-)

[decwest]

Thank you very much!
I created a PR, I would appreciate it if you could take a look at it.

#5889