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[RPP] Cap collision check distance (regression from #5598) #5616

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[RPP] Cap collision check distance (regression from #5598) #5616

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ad1472e
cap checkage at max_lookahead
EricoMeger Oct 15, 2025
42c878a
add warning for invalid config
EricoMeger Oct 15, 2025
bf571c9
fix typo in max_lookahead_dist parameter
EricoMeger Oct 16, 2025
7ae9246
fix linting
EricoMeger Oct 16, 2025
cd1341f
fix warning placement
EricoMeger Oct 16, 2025
e08bf19
format warning message
EricoMeger Oct 16, 2025
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3 changes: 2 additions & 1 deletion nav2_regulated_pure_pursuit_controller/src/collision_checker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,8 @@ bool CollisionChecker::isCollisionImminent(
params_->min_distance_to_obstacle / std::max(std::abs(linear_vel),
params_->min_approach_linear_velocity)
);
simulation_distance_limit = std::max(carrot_dist, params_->min_distance_to_obstacle);
simulation_distance_limit = std::min(std::max(carrot_dist, params_->min_distance_to_obstacle),
params_->max_lookahead_dist);
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I think the indentations are wrong here, it should just be 2 spaces more than the simulation_distance_limit = line.

I don't know what's going on with CI / linting tools and why its not picking up on these issues right now :(

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That was from ament_uncrustify --reformat, I'll fix it manually on the new PR then

}
int i = 1;
while (i * projection_time < max_allowed_time_to_collision_check) {
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9 changes: 9 additions & 0 deletions nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp
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Expand Up @@ -189,6 +189,15 @@ ParameterHandler::ParameterHandler(
node->get_parameter(
plugin_name_ + ".use_collision_detection",
params_.use_collision_detection);
if (params_.use_collision_detection &&
params_.min_distance_to_obstacle > params_.max_lookahead_dist)
{
RCLCPP_WARN(
logger_,
"min_distance_to_obstacle (%.02f) is greater than max_lookahead_dist (%.02f). "
"The collision check distance will be capped by max_lookahead_dist.",
params_.min_distance_to_obstacle, params_.max_lookahead_dist);
}
node->get_parameter(plugin_name_ + ".stateful", params_.stateful);

if (params_.inflation_cost_scaling_factor <= 0.0) {
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