regulated-pure-pursuit

Regulated pure pursuit improves Nav2 path tracking by applying velocity scaling and cost-aware curvature regulation to slow the robot for tight turns, high-cost areas, and goal approaches, ensuring smooth and safe navigation.

Yes, regulated pure pursuit supports differential-drive and holonomic robots in open, cluttered, or obstacle-rich environments, using lookahead-based steering and cost-aware velocity regulation to adapt to obstacles and maintain safe speeds.

You configure safe robot control by setting YAML parameters for lookahead distance, velocity regulation thresholds, and transform tolerance to match your specific robot's dynamics and environment costs.

The best way to slow down a robot approaching a goal in Nav2 is to enable regulated pure pursuit, which uses cost-aware velocity scaling and goal proximity thresholds to reduce speed safely and predictably.

Yes, Nav2 regulated pure pursuit includes an optional rotate-to-heading behavior for differential-drive robots, allowing precise orientation adjustments before or during path following.