Regulated pure pursuit oscillation at goal

[automech-rb]

Feature request

Feature description

Hi,
When setting low lookahead_dist values for robot with low de-acceleration capability which is able to move at high speed leads to oscillation when arriving at goal.
I believe this is due late checkup for goal slowdown (at low lookahead_dist) and robot is not able to stop quickly leading to overshoots.

Implementation considerations

Having a parameter for de-acceleration of robot with appropriate kinematic modeling.

[Aposhian]

Related: #3045 and #2815

[SteveMacenski]

What timing, I swear, more related issues are filed in roughly the same timeframe than seems statistically possible. This must be evidence of a deterministic consciousness 😆

#3045's solution, #3047 would actually fully solve that problem for you, it decouples the lookahead distances from the slow-down criteria so you can slow further away even when using a short lookahead distance.

I think the only thing blocking #3047 is documentation & default. So its right around the corner. I'm going to go ahead and close this issue since its covered by #3045 and the tickets are now linked, but I 100% appreciate the filed ticket @automech-rb. Please let us know if you run into any other issues.

[automech-rb]

Thank you both of you for quick reply!
Both of the pull requests looks appealing. I will check them out!