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Conserve curvature with LIMIT action (backport #5255)#5262

Merged
SteveMacenski merged 1 commit intokiltedfrom
mergify/bp/kilted/pr-5255
Jun 12, 2025
Merged

Conserve curvature with LIMIT action (backport #5255)#5262
SteveMacenski merged 1 commit intokiltedfrom
mergify/bp/kilted/pr-5255

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@mergify mergify bot commented Jun 12, 2025

Basic Info

Info Please fill out this column
Ticket(s) this addresses #5254
Primary OS tested on (Ubuntu, MacOS, Windows)
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software? (No; Yes and it is marked inline in the code)

Description of contribution in a few bullet points

  • I changed the LIMIT action to scale all the velocity components by the same ratio to conserve curvature

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in docs.nav2.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
This is an automatic backport of pull request #5255 done by [Mergify](https://mergify.com).

@tonynajjar @mergify
Conserve curvature with LIMIT action (#5255)
3e36187 
* Conserve curvature with LIMIT action

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* fix format

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* fix test

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

---------

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
(cherry picked from commit d370ca3)
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mergify bot commented Jun 12, 2025

@mergify[bot], all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @kilted, but it must be in main
to have these changes reflected into new distributions.

@SteveMacenski SteveMacenski merged commit 290de4d into kilted Jun 12, 2025
9 of 10 checks passed
@SteveMacenski SteveMacenski deleted the mergify/bp/kilted/pr-5255 branch June 12, 2025 13:51
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