[Graceful Controller] Add deceleration limit by SakshayMahna · Pull Request #5511 · ros-navigation/navigation2

SakshayMahna · 2025-09-05T10:00:31Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4865
Primary OS tested on	Ubuntu
Robotic platform tested on	Turtlebot3 Gazebo Simulation
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

Description of contribution in a few bullet points

Graceful Controller makes use of a slowdown radius to stop at the target. This PR additionally applies deceleration limit while the robot is stopping.

Description of documentation updates required from your changes

Added new parameter, deceleration_max to Graceful Controller.
Supporting a new behavior for stopping.

Description of how this change was tested

Tested in simulation.

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
Should this be backported to current distributions? If so, tag with backport-*.

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

SakshayMahna · 2025-09-05T10:04:26Z

@SteveMacenski
Opened the PR as discussed.

A few points to note on the implementation:

I modified the existing calculateRegularVelocity and calculateNextPoint functions in the Smooth Control Law file. There is only one dependency to the package nav2_docking. Instead of modification of the existing function signature, I can implement a new function altogether.
This PR is touching nav2_docking package as well, which now also requires the decleration_max parameter.

nav2_docking/opennav_docking/src/controller.cpp

nav2_graceful_controller/src/smooth_control_law.cpp

SteveMacenski · 2025-09-11T16:27:19Z

Also check out the CI tests, a few are legit failing it looks like from this update

Update cloned repo

SteveMacenski · 2025-09-17T21:44:50Z

@SakshayMahna any update? I see you pulled in main

SakshayMahna · 2025-09-18T13:49:47Z

No not yet. I will get it done by this week.

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

SteveMacenski · 2025-09-22T19:55:22Z

Ping me when you want a review :-)

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

Up to date with main

codecov · 2025-10-09T12:37:47Z

Codecov Report

❌ Patch coverage is 97.50000% with 1 line in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_graceful_controller/src/parameter_handler.cpp	80.00%	1 Missing ⚠️

Files with missing lines	Coverage Δ
...e/nav2_graceful_controller/graceful_controller.hpp	`100.00% <ø> (ø)`
...ude/nav2_graceful_controller/parameter_handler.hpp	`100.00% <ø> (ø)`
...v2_graceful_controller/src/graceful_controller.cpp	`89.47% <100.00%> (+0.12%)`	⬆️
...av2_graceful_controller/src/smooth_control_law.cpp	`100.00% <100.00%> (ø)`
nav2_graceful_controller/src/parameter_handler.cpp	`99.29% <80.00%> (-0.71%)`	⬇️

... and 4 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

SteveMacenski · 2025-10-09T21:40:52Z

Is this ready for a review yet? :-)

SakshayMahna · 2025-10-13T05:20:31Z

Hi @SteveMacenski
Ready for review. This currently keeps the functions used by nav2_docking untouched. The deceleration is only being applied when the graceful controller is being used.

nav2_graceful_controller/include/nav2_graceful_controller/smooth_control_law.hpp

nav2_graceful_controller/src/graceful_controller.cpp

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

SakshayMahna · 2025-10-18T13:10:51Z

Single constructor for Smooth Control Law now.
Initialised the same in docking as an INFINITE value, and mentioned in a comment.
Still kept the setter, for completeness.

SteveMacenski · 2025-10-20T23:59:46Z

nav2_docking/opennav_docking/src/controller.cpp

-    k_phi_, k_delta_, beta_, lambda_, slowdown_radius_, v_linear_min_, v_linear_max_,
-    v_angular_max_);
+    k_phi_, k_delta_, beta_, lambda_,
+    slowdown_radius_, INFINITY,


How about std::numeric_limits<double>::max()? This is typically how we represent a large initialized value

SteveMacenski · 2025-10-21T00:00:29Z

nav2_graceful_controller/include/nav2_graceful_controller/smooth_control_law.hpp

+   * @param backward If true, the robot is moving backwards. Defaults to false.
+   * @return Velocity command.
+   */
+  geometry_msgs::msg::Twist calculateRegularVelocity(


Why the duplication for the calc velocity / next pose methods? I Think this falls into the same camp to remove the duplication of methods. Can we simply call a single implementation and in the docking have the field for that be some arbitrarily high value like INF / MAX?

SakshayMahna added 3 commits September 5, 2025 14:20

Update smooth control law

9c29521

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

Update Graceful controller

fce731d

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

Fix build issues

a243818

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

SteveMacenski reviewed Sep 11, 2025

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nav2_docking/opennav_docking/src/controller.cpp Outdated Show resolved Hide resolved

SteveMacenski reviewed Sep 11, 2025

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nav2_graceful_controller/src/smooth_control_law.cpp Show resolved Hide resolved

Merge pull request #4 from ros-navigation/main

c9396b4

Update cloned repo

Update deceleration_max for docking

aac6f73

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

SakshayMahna added 4 commits September 26, 2025 18:31

Fix control_law function calls in dock controller

c74360a

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

Isolate changes from nav2_docking

0f734f1

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

Fix linting issues

cef28ac

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

Merge pull request #7 from ros-navigation/main

563b7a4

Up to date with main

SteveMacenski reviewed Oct 15, 2025

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nav2_graceful_controller/include/nav2_graceful_controller/smooth_control_law.hpp Show resolved Hide resolved

nav2_graceful_controller/src/graceful_controller.cpp Show resolved Hide resolved

Use single constructor for Smooth Control Law

0b7e591

Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

SteveMacenski reviewed Oct 21, 2025

View reviewed changes

SteveMacenski mentioned this pull request Dec 3, 2025

[Graceful Controller] Additional Controller Techniques - Experimentation #4865

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SakshayMahna commented Sep 5, 2025

Basic Info

Description of contribution in a few bullet points

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:

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SakshayMahna commented Sep 5, 2025

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SteveMacenski commented Sep 11, 2025

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