From 53a0ed4405150a99b8594f0e257c82f5e4c0e134 Mon Sep 17 00:00:00 2001 From: Ramon Wijnands Date: Thu, 28 Mar 2024 10:44:03 +0100 Subject: [PATCH] Update migration/Iron.rst Co-authored-by: Steve Macenski --- migration/Iron.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/migration/Iron.rst b/migration/Iron.rst index 5abdfb6cc..3ee143f44 100644 --- a/migration/Iron.rst +++ b/migration/Iron.rst @@ -297,4 +297,4 @@ New BtActionServer/BtNavigator parameter 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. +`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 while continuing to track the path to stop the robot instead of stopping immediately. This API can be should be added to all controllers that have acceleration limits.