regulated_pure_pursuit_controller

This is an implementation of Pure Pursuit Control algorithm [1] for ROS Noetic. Most of the parameters correspond to those of nav2 implementation.

Topics

Published Topics

Name	Type	Description
local_plan	nav_msgs/Path	Trajectory that the robot will ideally follow

Subscribed Topics

Name	Type	Description
odom	nav_msgs/Odometry	Odometry of the robot

Parameters

Robot

Name	Type	Description	Default value
acc_lim_linear	double	The linear acceleration limit of the robot in m/s^2	2.5
min_vel_linear	double	The minimum linear velocity for the robot in m/s	0.1
max_vel_linear	double	The maximum linear velocity for the robot in m/s	0.5
acc_lim_angular	double	The angular acceleration limit of the robot in rad/s^2	3.2
min_vel_angular	double	The minimum angular velocity for the robot in rad/s	0.2
max_vel_angular	double	The maximum angular velocity for the robot in rad/s	1.0
is_omnidirectional	bool	Whether the robot is omnidirectional or not	true
follow_viapoint_orientation	bool	Whether to follow orientation set to the viapoints or a linear blend of current and goal orientation when is_omnidirectional is true	true
use_rotate_to_heading	bool	Whether to enable rotating at start and goal when is_omnidirectional is false (Recommended on for all robot types that can rotate in place)	true
rotate_to_heading_angular_vel	double	If use_rotate_to_heading is true, this is the angular velocity to use	0.5

Goal tolerance

Name	Type	Description	Default value
xy_goal_tolerance	double	The tolerance in meters for the controller in the x & y distance when achieving a goal	0.25
yaw_goal_tolerance	double	The tolerance in radians for the controller in yaw/rotation when achieving its goal	0.25

Regulated Pure Pursuit

Name	Type	Description	Default value
use_velocity_scaled_lookahead_dist	bool	Whether to use the velocity scaled lookahead distances or constant lookahead_distance	true
lookahead_dist	double	The lookahead distance (m) to use to find the lookahead point when use_velocity_scaled_lookahead_dist is false	0.6
min_lookahead_dist	double	The minimum lookahead distance (m) threshold when use_velocity_scaled_lookahead_dist is true	0.3
max_lookahead_dist	double	The maximum lookahead distance (m) threshold when use_velocity_scaled_lookahead_dist is true	0.9
lookahead_time	double	The time (s) to project the velocity by when use_velocity_scaled_lookahead_dist is true. Also known as the lookahead gain	1.5
use_curvature_heuristic	bool	Whether to use the regulated features for path curvature (e.g. slow on high curvature paths)	true
curvature_gain	double	The gain to use for the curvature heuristic when use_curvature_heuristic is true	1.0
curvature_threshold	double	The curvature (1/m) for which the regulation features are triggered when use_curvature_heuristic is true	1.1
use_proximity_heuristic	bool	Whether to use the regulated features for proximity to obstacles (e.g. in close proximity to obstacles)	true
proximity_gain	double	The gain to use for the proximity heuristic when use_proximity_heuristic is true	0.5
proximity_threshold	double	The distance (m) to the closest obstacle for which the regulation features are triggered when use_proximity_heuristic is true	0.5
transform_tolerance	double	The TF transform tolerance (s)	0.1

References

[1] S. Macenski, S. Singh, F. Martin, J. Gines, Regulated Pure Pursuit for Robot Path Tracking. Autonomous Robots, 2023.