From 2704a037cee070053be704f21e777170485c110f Mon Sep 17 00:00:00 2001 From: Ramon Wijnands Date: Tue, 26 Mar 2024 11:58:00 +0100 Subject: [PATCH] Add graceful cancellation API to the migration guides Signed-off-by: Ramon Wijnands --- migration/Iron.rst | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/migration/Iron.rst b/migration/Iron.rst index 5cf688861..5abdfb6cc 100644 --- a/migration/Iron.rst +++ b/migration/Iron.rst @@ -294,3 +294,7 @@ New BtActionServer/BtNavigator parameter `PR #4209 `_ introduces a new boolean parameter ``always_reload_bt_xml``, which enables the possibility to always reload a requested behavior tree XML description, regardless of the currently active XML. This allows keeping the action server running while changing/developing the XML description. +New graceful cancellation API for Controllers +********************************************* + +`PR #4136 `_ introduces a new graceful cancellation API for controllers. Previously when a goal was canceled, the controller would stop the robot immediately. This API allows the controller to stop the robot in a more graceful way. The new API is implemented in the ``RegulatedPurePursuitController`` by adding a new parameter ``cancel_deceleration``. So when the goal is canceled, a constant deceleration will be used to stop the robot instead of stopping immediately. This API can be should be added to all controllers that have acceleration limits.