min_distance_to_obstacle doesn't seem to work with use_velocity_scaled_lookahead_dist on RPP #5989
Description
Bug report
Required Info:
- Operating System:
Ubuntu 24.04 - Computer:
Raspberry pi 5 - ROS2 Version:
Rolling - Version or commit hash:
Latest - DDS implementation:
Cyclonedds
Steps to reproduce issue
Use min_distance_to_obstacle > 0.0 with use_velocity_scaled_lookahead_dist
Expected behavior
Robot stops as determined by min_distance_to_obstacle, like it does when use_velocity_scaled_lookahead_dist is disabled
Actual behavior
Robot stops way closer than it should
Reproduction instructions
Additional information
Hello,
I’m not sure if this is the correct place to report this, but I was advised to open an issue here.
When use_velocity_scaled_lookahead_dist is disabled, the robot consistently stops at the configured min_distance_to_obstacle (e.g., 0.7m).
However, when enabling use_velocity_scaled_lookahead_dist, the robot stops significantly closer to the obstacle (around ~0.3m), regardless of the configured min_distance_to_obstacle.
I tested multiple values for min_distance_to_obstacle, including large values (e.g., 5m), but with use_velocity_scaled_lookahead_dist = true, the robot only stops when it is very close to the obstacle.
I also tried increasing max_allowed_time_to_collision_up_to_carrot, but this did not change the behavior.
For example:
When use_velocity_scaled_lookahead_dist is disabled
(the green line is the path, the black box is a obstacle, the pink circle is mt robot)
When use_velocity_scaled_lookahead_dist is enabled
Sorry for the low quality images, I'll only be able to get to the lab next week, and I wanted to share this as soon as possible.
See my config below:
controller_server:
ros__parameters:
controller_frequency: 30.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
goal_checker_plugins: ["goal_checker"]
controller_plugins: ["FollowPath"]
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.1
movement_time_allowance: 10.0
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.5
yaw_goal_tolerance: 0.75
stateful: True
FollowPath:
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
max_linear_vel: 0.3
min_linear_vel: -0.2
max_angular_vel: 1.2
min_angular_vel: -1.2
max_linear_accel: 1.0
max_linear_decel: -1.0
max_angular_accel: 2.0
max_angular_decel: -2.0
lookahead_dist: 2.5
min_lookahead_dist: 0.3
max_lookahead_dist: 2.5
lookahead_time: 1.5
rotate_to_heading_angular_vel: 1.2
use_velocity_scaled_lookahead_dist: true
min_approach_linear_velocity: 0.05
approach_velocity_scaling_dist: 0.6
use_collision_detection: true
max_allowed_time_to_collision_up_to_carrot: 2.5
use_regulated_linear_velocity_scaling: true
use_fixed_curvature_lookahead: true
curvature_lookahead_dist: 0.25
use_cost_regulated_linear_velocity_scaling: false
cost_scaling_dist: 0.3
cost_scaling_gain: 1.0
regulated_linear_scaling_min_radius: 0.9
regulated_linear_scaling_min_speed: 0.25
use_rotate_to_heading: false
allow_reversing: true
rotate_to_heading_min_angle: 0.785
min_distance_to_obstacle: 0.7
stateful: true
use_dynamic_window: true