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Signed-off-by: navigation2-ci <[email protected]>

2021summerOfCode/Summer_2021_Student_Program.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/assisted_teleop.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_configuration_assistant.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_plugins.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/dynamic.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/grid_maps.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/localization.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/multithreading.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/navigation_rebranding.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/safety_node.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/semantics.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/spinners.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/testing.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/twist_n_config.html

@@ -1015,6 +1015,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

_sources/configuration/packages/configuring-regulated-pp.rst.txt

@@ -266,6 +266,17 @@ Regulated Pure Pursuit Parameters
   Description
     Maximum allowable angular acceleration (rad/s/s) while rotating to heading, if ``use_rotate_to_heading`` is ``true``.
 
+:use_cancel_deceleration:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  bool           false
+  ============== =============================
+
+  Description
+    Whether to use deceleration when the goal is canceled.
+
 :cancel_deceleration:
 
   ============== =============================

_sources/migration/Iron.rst.txt

@@ -360,3 +360,7 @@ Rotation Shim Controller: new parameter ``rotate_to_goal_heading``
 MPPI Controller: Addition of acceleration constraints 
 ******************************************************
 `PR #4352 <https://github.com/ros-navigation/navigation2/pull/4352>`_ adds new parameters ``ax_max``, ``ax_min``, ``ay_max``, ``az_max`` for the MPPI controller. These parameters will enable the MPPI controller to generate local trajectories within the specified acceleration constraints.
+
+RegulatedPurePursuit Controller [RPP]: new parameter ``use_cancel_deceleration``
+********************************************************************************
+`PR #4441 <https://github.com/ros-navigation/navigation2/pull/4441>`_ adds a new parameter use_cancel_deceleration for the regulated pure pursuit controllers. This parameter enables the controller to use a constant deceleration to stop the robot gracefully instead of stopping immediately when a goal is canceled.

about/index.html

@@ -1017,6 +1017,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>

about/related_projects.html

@@ -1016,6 +1016,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#lifecycle-node-added-bond-heartbeat-period-parameter-and-allow-disabling-the-bond-mechanism">Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#rotation-shim-controller-new-parameter-rotate-to-goal-heading">Rotation Shim Controller: new parameter <code class="docutils literal notranslate"><span class="pre">rotate_to_goal_heading</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#mppi-controller-addition-of-acceleration-constraints">MPPI Controller: Addition of acceleration constraints</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#regulatedpurepursuit-controller-rpp-new-parameter-use-cancel-deceleration">RegulatedPurePursuit Controller [RPP]: new parameter <code class="docutils literal notranslate"><span class="pre">use_cancel_deceleration</span></code></a></li>
 </ul>
 </li>
 </ul>