RPP planner strange behaviour in reverse #3086
Description
Bug report
Required Info:
- Operating System:
- Docker 20.04 Ubuntu
- ROS2 Version:
- rolling
- Version or commit hash:
- latest 9706878
- DDS implementation:
- rmw_cyclonedds_cpp
Steps to reproduce issue
Setting use_rotate_to_heading: false and allow_reversing: true
FollowPath:
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
desired_linear_vel: 0.8
lookahead_dist: 0.4
min_lookahead_dist: 0.4
max_lookahead_dist: 0.8
lookahead_time: 1.0
rotate_to_heading_angular_vel: 0.5
transform_tolerance: 0.1
use_velocity_scaled_lookahead_dist: false
min_approach_linear_velocity: 0.05
approach_velocity_scaling_dist: 0.8
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: 0.2
use_rotate_to_heading: false
allow_reversing: true
rotate_to_heading_min_angle: 0.785 #45degree
max_angular_accel: 0.5
max_robot_pose_search_dist: 10.0
use_interpolation: false
Expected behavior
Robot to follow path in reverse (backward motion)
Actual behavior
Robot rotate completely and follow the path in strange fashion (as shown in gif above)
Additional information
In gif, the face with additional frame at front is front.