Skip to content

Add approach_velocity_scaling_dist to dynamic parameter callback #5711

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Add approach_velocity_scaling_dist to dynamic parameter callback #5711

wants to merge 1 commit into from

Conversation

@brammmieee
Copy link

@brammmieee brammmieee commented Nov 21, 2025

Basic Info

Info Please fill out this column
Ticket(s) this addresses N/A - Bug fix for missing dynamic parameter
Primary OS tested on Ubuntu 24.04
Robotic platform tested on Gazebo simulation, custom AMR platform
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

  • Fixed missing approach_velocity_scaling_dist parameter in dynamicParametersCallback function
  • Parameter was previously declared and initialized but could not be updated at runtime
  • Now consistent with all other dynamic parameters in the Regulated Pure Pursuit Controller

Description of documentation updates required from your changes

  • No documentation updates required - this fixes existing documented functionality
  • The parameter is already documented, this just makes dynamic reconfiguration work as expected

Description of how this change was tested

  • Verified parameter can be changed via rqt_reconfigure during runtime
  • Confirmed parameter updates take effect immediately without node restart
  • Tested that velocity scaling behavior responds correctly to parameter changes
  • All other existing parameters continue to work as expected
  • Performed linting validation using colcon test

Future work that may be required in bullet points

  • None - this is a standalone bug fix that makes the parameter work as originally intended

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-humble, backport-iron.

@brammmieee
Add approach_velocity_scaling_dist to dynamic parameter callback
ab24939 
The approach_velocity_scaling_dist parameter was declared and initialized
but missing from the dynamicParametersCallback function, preventing it
from being updated via dynamic reconfigure (e.g., rqt_reconfigure).

This commit adds the parameter to the callback handler, enabling runtime
reconfiguration like other controller parameters.
@mini-1235
Copy link
Contributor

mini-1235 commented Nov 21, 2025 •
edited
Loading

@brammmieee Please check the build error: https://app.circleci.com/pipelines/github/ros-navigation/navigation2/16812/workflows/d927e01c-8538-4765-8795-10813d7c8c85/jobs/49285

Also, please sign with DCO

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

2 participants

@brammmieee @mini-1235