Regulated Pure Pursuit Parameters¶

The desired maximum linear velocity (m/s) to use.

The lookahead distance (m) to use to find the lookahead point when use_velocity_scaled_lookahead_dist is false.

The minimum lookahead distance (m) threshold when use_velocity_scaled_lookahead_dist is true.

The maximum lookahead distance (m) threshold when use_velocity_scaled_lookahead_dist is true.

The time (s) to project the velocity by when use_velocity_scaled_lookahead_dist is true. Also known as the lookahead gain.

If use_rotate_to_heading is true, this is the angular velocity to use.

The TF transform tolerance (s).

Whether to use the velocity scaled lookahead distances or constant lookahead_distance.

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

The time (s) to project a velocity command forward to check for collisions. Pre-Humble, this was max_allowed_time_to_collision.

Whether to use the regulated features for path curvature (e.g. slow on high curvature paths).

Whether to use the regulated features for proximity to obstacles (e.g. slow in close proximity to obstacles).

The turning radius (m) for which the regulation features are triggered when use_regulated_linear_velocity_scaling is tru. Remember, sharper turns have smaller radii.

The minimum speed (m/s) for which any of the regulated heuristics can send, to ensure process is still achievable even in high cost spaces with high curvature. Must be > 0.1.

Whether to enable rotating to rough heading and goal orientation when using holonomic planners. Recommended on for all robot types that can rotate in place.

Note: both use_rotate_to_heading and allow_reversing cannot be set to true at the same time as it would result in ambiguous situations.

Enables the robot to drive in the reverse direction, when the path planned involves reversing (which is represented by orientation cusps). Variants of the smac_planner comes with the support of reversing. Checkout the Smac Planner to know more.

Note: both use_rotate_to_heading and allow_reversing cannot be set to true at the same time as it would result in ambiguous situations.

The difference in the path orientation and the starting robot orientation (radians) to trigger a rotate in place, if use_rotate_to_heading is true.

Maximum allowable angular acceleration (rad/s/s) while rotating to heading, if use_rotate_to_heading is true.

Upper bound on integrated distance along the global plan to search for the closest pose to the robot pose. This should be left as the default unless there are paths with loops and intersections that do not leave the local costmap, in which case making this value smaller is necessary to prevent shortcutting.

Enable linear interpolation between poses for lookahead point selection. Leads to smoother commanded linear and angular velocities.

Example¶

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: "goal_checker"
    controller_plugins: ["FollowPath"]

    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    FollowPath:
      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
      desired_linear_vel: 0.5
      lookahead_dist: 0.6
      min_lookahead_dist: 0.3
      max_lookahead_dist: 0.9
      lookahead_time: 1.5
      rotate_to_heading_angular_vel: 1.8
      transform_tolerance: 0.1
      use_velocity_scaled_lookahead_dist: false
      min_approach_linear_velocity: 0.05
      max_allowed_time_to_collision_up_to_carrot: 1.0
      use_regulated_linear_velocity_scaling: true
      use_cost_regulated_linear_velocity_scaling: false
      regulated_linear_scaling_min_radius: 0.9
      regulated_linear_scaling_min_speed: 0.25
      use_rotate_to_heading: true
      allow_reversing: false
      rotate_to_heading_min_angle: 0.785
      max_angular_accel: 3.2
      max_robot_pose_search_dist: 10.0
      use_interpolation: false