docs: Update Kilted migration notes with min_distance_to_obstacle fix and new allow_obstacle_checking_beyond_goal parameter

Author: EricoMeger

configuration/packages/configuring-regulated-pp.rst

@@ -444,6 +444,17 @@ Regulated Pure Pursuit Parameters
     Whether to use the Dynamic Window Pure Pursuit (DWPP) Algorithm. This algorithm computes command velocities that track the path as accurately as possible while respecting velocity and acceleration constraints. It automatically slows down in sharp turns without manual tuning, reducing path tracking errors.
     Fumiya Ohnishi and Masaki Takahashi, "Dynamic Window Pure Pursuit for Robot Path Tracking Considering Velocity and Acceleration Constraints", the 19th International Conference on Intelligent Autonomous Systems (IAS-19), 2025.
 
+:allow_obstacle_checking_beyond_goal:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  bool           false
+  ============== =============================
+
+  Description
+    Whether to continue obstacle checking past the goal position up to ``min_distance_to_obstacle``. When enabled, obstacles located beyond the goal along the projected trajectory may prevent motion. Requires ``use_velocity_scaled_lookahead_dist`` to be enabled and ``min_distance_to_obstacle`` > 0.0.
+
 
 Example
 *******
@@ -502,3 +513,4 @@ Example
         min_distance_to_obstacle: 0.0
         stateful: true
         use_dynamic_window: false
+        allow_obstacle_checking_beyond_goal: false

migration/Kilted.rst

@@ -808,3 +808,15 @@ New bt_log_idle_transitions parameter in bt_navigator
 -----------------------------------------------------
 
 In `PR 5963 <https://github.com/ros-navigation/navigation2/pull/5963>`_, A new ``bt_log_idle_transitions`` parameter has been added to the BT navigator. When set to ``true`` (default), idle (no state change) transitions in the behavior tree are published to the ``/behavior_tree_log`` topic and console output. When ``false``, only state changes are logged, reducing topic and console noise. This is useful for debugging behavior tree execution without being overwhelmed by repetitive idle tick messages.
+
+RPP: min_distance_to_obstacle fix and new allow_obstacle_checking_beyond_goal parameter
+---------------------------------------------------------------------------------------------------------------------------------
+
+`PR #5677 <https://github.com/ros-navigation/navigation2/pull/5677>`_ resolves an issue where ``min_distance_to_obstacle`` was not properly enforced when ``use_velocity_scaled_lookahead_dist`` was enabled. Previously, collision checking was limited to the carrot distance, which at low speeds could be shorter than ``min_distance_to_obstacle``. For example, with ``min_lookahead_dist: 0.3``, ``min_distance_to_obstacle: 0.9``, and ``max_lookahead_dist: 1.5``, if the robot had not accelerated enough for the lookahead to reach 0.9m, obstacle checking would only cover up to the carrot position rather than the configured 0.9m. The collision checker now correctly extends the simulation distance to ``min_distance_to_obstacle`` (capped by ``max_lookahead_dist``) regardless of the current carrot distance.
+
+Additionally, warnings have been added to the parameter handler to alert users of configurations where ``min_distance_to_obstacle`` cannot be fully enforced:
+
+- When using ``use_velocity_scaled_lookahead_dist``, a warning is emitted if ``min_distance_to_obstacle`` exceeds ``max_lookahead_dist``.
+- When using a constant ``lookahead_dist``, a warning is emitted if ``min_distance_to_obstacle`` exceeds ``lookahead_dist``.
+
+A new parameter ``allow_obstacle_checking_beyond_goal`` (default: false) has also been added. By default, obstacle checking along the projected trajectory stops at the goal position (end of the path). When enabled, collision checking continues past the goal up to ``min_distance_to_obstacle``, regardless of the remaining path length. This parameter requires ``use_velocity_scaled_lookahead_dist`` to be enabled and ``min_distance_to_obstacle`` > 0.0.