Fis typos (#4806)

Signed-off-by: Alberto Tudela <[email protected]>

Doxyfile

@@ -1452,7 +1452,7 @@ EXT_LINKS_IN_WINDOW    = NO
 FORMULA_FONTSIZE       = 10
 
 # Use the FORMULA_TRANSPARENT tag to determine whether or not the images
-# generated for formulas are transparent ONGs. Transparent ONGs are not
+# generated for formulas are transparent PNGs. Transparent PNGs are not
 # supported properly for IE 6.0, but are supported on all modern browsers.
 #
 # Note that when changing this option you need to delete any form_*.png files in

nav2_regulated_pure_pursuit_controller/README.md

@@ -45,7 +45,7 @@ Note that a pure pursuit controller is that, it "purely" pursues the path withou
 
 We have created a new variation on the pure pursuit algorithm that we dubb the Regulated Pure Pursuit algorithm. We combine the features of the Adaptive Pure Pursuit algorithm with rules around linear velocity with a focus on consumer, industrial, and service robot's needs. We also implement several common-sense safety mechanisms like collision detection.
 
-The Regulated Pure Pursuit controller implements active collision detection. We use a parameter to set the maximum allowable time before a potential collision on the current velocity command. Using the current linear and angular velocity, we project forward in time that duration and check for collisions. Intuitively, you may think that collision checking between the robot and the lookahead point seems logical. However, if you're maneuvering in tight spaces, it makes alot of sense to only search forward a given amount of time to give the system a little leeway to get itself out. In confined spaces especially, we want to make sure that we're collision checking a reasonable amount of space for the current action being taken (e.g. if moving at 0.1 m/s, it makes no sense to look 10 meters ahead to the carrot, or 100 seconds into the future). This helps look further at higher speeds / angular rotations and closer with fine, slow motions in constrained environments so it doesn't over report collisions from valid motions near obstacles. If you set the maximum allowable to a large number, it will collision check all the way, but not exceeding, the lookahead point. We visualize the collision checking arc on the `lookahead_arc` topic.
+The Regulated Pure Pursuit controller implements active collision detection. We use a parameter to set the maximum allowable time before a potential collision on the current velocity command. Using the current linear and angular velocity, we project forward in time that duration and check for collisions. Intuitively, you may think that collision checking between the robot and the lookahead point seems logical. However, if you're maneuvering in tight spaces, it makes a lot of sense to only search forward a given amount of time to give the system a little leeway to get itself out. In confined spaces especially, we want to make sure that we're collision checking a reasonable amount of space for the current action being taken (e.g. if moving at 0.1 m/s, it makes no sense to look 10 meters ahead to the carrot, or 100 seconds into the future). This helps look further at higher speeds / angular rotations and closer with fine, slow motions in constrained environments so it doesn't over report collisions from valid motions near obstacles. If you set the maximum allowable to a large number, it will collision check all the way, but not exceeding, the lookahead point. We visualize the collision checking arc on the `lookahead_arc` topic.
 
 The regulated pure pursuit algorithm also makes use of the common variations on the pure pursuit algorithm. We implement the adaptive pure pursuit's main contribution of having velocity-scaled lookahead point distances. This helps make the controller more stable over a larger range of potential linear velocities. There are parameters for setting the lookahead gain (or lookahead time) and thresholded values for minimum and maximum.
 
@@ -90,7 +90,7 @@ Note: The maximum allowed time to collision is thresholded by the lookahead poin
 | `rotate_to_heading_min_angle` | The difference in the path orientation and the starting robot orientation to trigger a rotate in place, if `use_rotate_to_heading` is enabled. | 
 | `max_angular_accel` | Maximum allowable angular acceleration while rotating to heading, if enabled | 
 | `max_robot_pose_search_dist` | Maximum integrated distance along the path to bound the search for the closest pose to the robot. This is set by default to the maximum costmap extent, so it shouldn't be set manually unless there are loops within the local costmap. | 
-| `interpolate_curvature_after_goal` | Needs use_fixed_curvature_lookahead to be true. Interpolate a carrot after the goal dedicated to the curvate calculation (to avoid oscilaltions at the end of the path) | 
+| `interpolate_curvature_after_goal` | Needs use_fixed_curvature_lookahead to be true. Interpolate a carrot after the goal dedicated to the curvature calculation (to avoid oscillations at the end of the path) | 
 
 Example fully-described XML with default parameter values:
 
@@ -151,7 +151,7 @@ controller_server:
 | `lookahead_point`  | `geometry_msgs/PointStamped` | The current lookahead point on the path | 
 | `lookahead_arc`  | `nav_msgs/Path` | The drivable arc between the robot and the carrot. Arc length depends on `max_allowed_time_to_collision_up_to_carrot`, forward simulating from the robot pose at the commanded `Twist` by that time. In a collision state, the last published arc will be the points leading up to, and including, the first point in collision. | 
 
-Note: The `lookahead_arc` is also a really great speed indicator, when "full" to carrot or max time, you know you're at full speed. If 20% less, you can tell the robot is approximately 20% below maximum speed. Think of it as the collision checking bounds but also a speed gage.
+Note: The `lookahead_arc` is also a really great speed indicator, when "full" to carrot or max time, you know you're at full speed. If 20% less, you can tell the robot is approximately 20% below maximum speed. Think of it as the collision checking bounds but also a speed gauge.
 
 ## Notes to users