From 32585ffe81fe45acf51326cfa777f5a5e9877f77 Mon Sep 17 00:00:00 2001 From: Adam Aposhian Date: Wed, 30 Mar 2022 15:50:42 -0600 Subject: [PATCH 1/2] add use_interpolation parameter for rpp --- configuration/packages/configuring-regulated-pp.rst | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/configuration/packages/configuring-regulated-pp.rst b/configuration/packages/configuring-regulated-pp.rst index 46cb9727f..de4b19607 100644 --- a/configuration/packages/configuring-regulated-pp.rst +++ b/configuration/packages/configuring-regulated-pp.rst @@ -233,6 +233,17 @@ Regulated Pure Pursuit Parameters Description 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. +:use_interpolation: + + ============== ============================= + Type Default + -------------- ----------------------------- + bool false + ============== ============================= + + Description + Enable linear interpolation between poses for lookahead point selection. Leads to smoother commanded linear and angular velocities. + Example ******* .. code-block:: yaml @@ -278,3 +289,4 @@ Example rotate_to_heading_min_angle: 0.785 max_angular_accel: 3.2 max_robot_pose_search_dist: 10.0 + use_interpolation: false From e4674279d76a12239ae961223e84dd01cd9f3ad8 Mon Sep 17 00:00:00 2001 From: Adam Aposhian Date: Wed, 30 Mar 2022 17:48:36 -0600 Subject: [PATCH 2/2] default use_interpolation to true --- configuration/packages/configuring-regulated-pp.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configuration/packages/configuring-regulated-pp.rst b/configuration/packages/configuring-regulated-pp.rst index de4b19607..256777433 100644 --- a/configuration/packages/configuring-regulated-pp.rst +++ b/configuration/packages/configuring-regulated-pp.rst @@ -238,7 +238,7 @@ Regulated Pure Pursuit Parameters ============== ============================= Type Default -------------- ----------------------------- - bool false + bool true ============== ============================= Description