What problem does it solve? Tuning the Nav2 Regulated Pure Pursuit (RPP) controller involves many interdependent parameters—lookahead distance, curvature regulation, cost-based slowdown, and rotate-to-heading behavior—and misconfiguring them causes oscillation, corner cutting, or stalling. This Skill provides structured guidance and a complete reference YAML to configure RPP correctly. ## Core Features & Use Cases - Lookahead Configuration: Set fixed or velocity-scaled lookahead distances with min/max clamps and lookahead time. - Regulation Behaviors: Configure curvature-based and costmap-based linear velocity scaling, including matching inflation_cost_scaling_factor to the costmap inflation layer. - Differential-Drive Support: Enable rotate-to-heading behavior with correct mutual-exclusion rules against allow_reversing. - Use Case: A robotics engineer deploying a differential-drive robot in a warehouse needs a low-CPU path follower; use this Skill to produce a complete controller_server YAML and diagnose issues like oscillation on straight paths or jerking at path start. ## Quick Start Ask the assistant to generate a complete Nav2 Regulated Pure Pursuit controller YAML configuration for a differential-drive robot with velocity-scaled lookahead and rotate-to-heading enabled.
