PR 4140 docs

configuration/packages/configuring-regulated-pp.rst

@@ -244,8 +244,6 @@ Regulated Pure Pursuit Parameters
   Description
     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 :ref:`configuring_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.
-
 :rotate_to_heading_min_angle:
 
   ============== =============================
@@ -279,6 +277,19 @@ 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. If set to ``-1``, it will use the maximum distance possible to search every point on the path for the nearest path point.
 
+:interpolate_curvature_after_goal:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  bool           false
+  ============== =============================
+
+  Description
+    Interpolate a carrot after the goal dedicated to the curvate calculation (to avoid oscilaltions at the end of the path). For visualization, it will be published on the ``/curvature_lookahead_point`` topic similarly to ``/lookahead_point``
+
+    Note: Needs ``use_fixed_curvature_lookahead`` to be ``true``
+
 Example
 *******
 .. code-block:: yaml

migration/Iron.rst

@@ -254,3 +254,16 @@ In the GIF, it can be seen that there are two controller_ids namely, `FollowPath
 In this case, the `FollowPath` is the default controller_id. The difference between the two controller_ids is that HighSpeedFollowPath has a higher max velocity compared to the FollowPath. This difference can be well noted in the GIF.
 
 .. attention:: If a server is unavailable, then the combo box or the drop down list of the particular component will be empty.
+
+RPP new optional ``interpolate_curvature_after_goal`` behavior and fix conflict between ``use_rotate_to_heading`` and ``allow_reversing``
+*****************************************************************************************************************************************
+
+`In PR #4140 <https://github.com/ros-planning/navigation2/pull/4140>`_ a new optional ``interpolate_curvature_after_goal`` parameter (default ``false``) was added that activates the interpolation of a carrot after the goal in order to maintain a constant curvature lookahead distance. This is to avoid instabilities at the end of the path on the generation of the angular speed. The carrot used for the linear speed computation stays the same. 
+
+Interpolation is based on the orientation of the vector formed by the last 2 poses of the path. Hence paths of length 1 are rejected when ``interpolate_curvature_after_goal`` is ``true``. It can be used only when ``use_fixed_curvature_lookahead: true``.
+
+.. image:: images/rpp_goal_lookahead_interpolate.gif
+  :width: 45%
+
+Additionally, the conflict between ``use_rotate_to_heading` and ``allow_reversing`` was fixed so ``use_rotate_to_heading`` can now be used backward.
+