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add approach_velocity_scaling_dist parameter #336

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Jul 21, 2022
Merged

add approach_velocity_scaling_dist parameter #336

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13 changes: 12 additions & 1 deletion configuration/packages/configuring-regulated-pp.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,17 @@ Regulated Pure Pursuit Parameters

Description
The minimum velocity (m/s) threshold to apply when approaching the goal to ensure progress. Must be ``> 0.01``.


:approach_velocity_scaling_dist:

============== =============================
Type Default
-------------- -----------------------------
double 0.6
============== =============================

Description
The distance (m) left on the path at which to start slowing down. Should be less than the half the costmap width.

:max_allowed_time_to_collision_up_to_carrot:

Expand Down Expand Up @@ -279,6 +289,7 @@ Example
transform_tolerance: 0.1
use_velocity_scaled_lookahead_dist: false
min_approach_linear_velocity: 0.05
approach_velocity_scaling_dist: 0.6
max_allowed_time_to_collision_up_to_carrot: 1.0
use_regulated_linear_velocity_scaling: true
use_cost_regulated_linear_velocity_scaling: false
Expand Down