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Conserve curvature with LIMIT action #5255

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Merged
SteveMacenski merged 4 commits into from
Jun 12, 2025
Merged

Conserve curvature with LIMIT action #5255

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9019bfe
Conserve curvature with LIMIT action
tonynajjar Jun 11, 2025
4188663
fix format
tonynajjar Jun 11, 2025
2ef95ea
Merge remote-tracking branch 'nav2/main' into limit-proportional
tonynajjar Jun 11, 2025
f14b343
fix test
tonynajjar Jun 12, 2025
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14 changes: 9 additions & 5 deletions nav2_collision_monitor/src/collision_monitor_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -548,13 +548,17 @@ bool CollisionMonitor::processStopSlowdownLimit(
const double linear_vel = std::hypot(velocity.x, velocity.y); // absolute
Velocity safe_vel;
double ratio = 1.0;

// Calculate the most restrictive ratio to preserve curvature
if (linear_vel != 0.0) {
ratio = std::clamp(polygon->getLinearLimit() / linear_vel, 0.0, 1.0);
ratio = std::min(ratio, polygon->getLinearLimit() / linear_vel);
}
if (velocity.tw != 0.0) {
ratio = std::min(ratio, polygon->getAngularLimit() / std::abs(velocity.tw));
}
safe_vel.x = velocity.x * ratio;
safe_vel.y = velocity.y * ratio;
safe_vel.tw = std::clamp(
velocity.tw, -polygon->getAngularLimit(), polygon->getAngularLimit());
ratio = std::clamp(ratio, 0.0, 1.0);
// Apply the same ratio to all components to preserve curvature
safe_vel = velocity * ratio;
// Check that currently calculated velocity is safer than
// chosen for previous shapes one
if (safe_vel < robot_action.req_vel) {
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