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[RPP] Prevent collision check premature termination #5598

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Merged
merged 3 commits into from
Oct 13, 2025
Merged

[RPP] Prevent collision check premature termination #5598

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7a1d7e6
prevent collision check premature termination
EricoMeger Oct 10, 2025
53d7f96
improve comment wording
EricoMeger Oct 10, 2025
98b80b5
fix linting error
EricoMeger Oct 10, 2025
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9 changes: 7 additions & 2 deletions 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 @@ -91,12 +91,14 @@ bool CollisionChecker::isCollisionImminent(

// only forward simulate within time requested
double max_allowed_time_to_collision_check = params_->max_allowed_time_to_collision_up_to_carrot;
double simulation_distance_limit = carrot_dist;
if (params_->min_distance_to_obstacle > 0.0) {
max_allowed_time_to_collision_check = std::max(
params_->max_allowed_time_to_collision_up_to_carrot,
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);
}
int i = 1;
while (i * projection_time < max_allowed_time_to_collision_check) {
Expand All @@ -110,8 +112,11 @@ bool CollisionChecker::isCollisionImminent(
theta += projection_time * angular_vel;
curr_pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(theta);

// check if past carrot pose, where no longer a thoughtfully valid command
if (hypot(curr_pose.position.x - robot_xy.x, curr_pose.position.y - robot_xy.y) > carrot_dist) {
// Stop simulating if we've gone past the simulation distance limit
// (max: carrot or min distance)
if (hypot(curr_pose.position.x - robot_xy.x,
curr_pose.position.y - robot_xy.y) > simulation_distance_limit)
{
break;
}

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