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Remove stateful parameter from RPP #902

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Remove stateful parameter from RPP #902

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13 changes: 0 additions & 13 deletions configuration/packages/configuring-regulated-pp.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -399,17 +399,6 @@ Regulated Pure Pursuit Parameters

Note: Needs ``use_fixed_curvature_lookahead`` to be ``true``

:stateful:

============== =============================
Type Default
-------------- -----------------------------
bool true
============== =============================

Description
Enables stateful goal handling behavior. When set to true, the controller will persist the goal state once the robot reaches the XY tolerance. It will then focus on aligning to the goal heading without reverting to XY position corrections.

:allow_parameter_qos_overrides:

============== =============================
Expand Down Expand Up @@ -478,7 +467,6 @@ Example
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
FollowPath:
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
max_linear_vel: 0.5
Expand Down Expand Up @@ -511,6 +499,5 @@ Example
allow_reversing: false
rotate_to_heading_min_angle: 0.785
min_distance_to_obstacle: 0.0
stateful: true
use_dynamic_window: false
allow_obstacle_checking_beyond_goal: false
6 changes: 6 additions & 0 deletions migration/Kilted.rst
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Expand Up @@ -938,3 +938,9 @@ Key changes:
- New parameters ``publish_scan``, ``odom_publish_dur``, and ``scan_noise_std`` are available.

See :ref:`configuring_loopback_sim` for full parameter documentation.

Stateful parameter removed from Regulated Pure Pursuit Controller
-----------------------------------------------------------------
`PR #6071 <https://github.com/ros-navigation/navigation2/pull/6071>`_ removes the stateful parameter from the Regulated Pure Pursuit Controller. That parameter previously enabled stateful goal handling, allowing the controller to keep the goal active and continue aligning heading once the XY tolerance was reached, rather than reverting to XY position corrections.

A new GoalChecker API has been added so that controllers can query whether goal checking should be stateful. This removes the need for a separate controller plugin parameter, and the behavior now applies consistently across the Graceful controller, the Rotation Shim controller, and the Regulated Pure Pursuit controller.
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