removing RPP's use_interpolation param: always on (ros-navigation#3933)

Signed-off-by: gg <[email protected]>

nav2_regulated_pure_pursuit_controller/README.md

@@ -90,7 +90,6 @@ 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. | 
-| `use_interpolation` | Enables interpolation between poses on the path for lookahead point selection. Helps sparse paths to avoid inducing discontinuous commanded velocities. Set this to false for a potential performance boost, at the expense of smooth control. | 
 
 Example fully-described XML with default parameter values:
 
@@ -138,7 +137,6 @@ controller_server:
       rotate_to_heading_min_angle: 0.785
       max_angular_accel: 3.2
       max_robot_pose_search_dist: 10.0
-      use_interpolation: false
       cost_scaling_dist: 0.3
       cost_scaling_gain: 1.0
       inflation_cost_scaling_factor: 3.0

nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/parameter_handler.hpp

@@ -56,7 +56,6 @@ struct Parameters
   double rotate_to_heading_min_angle;
   bool allow_reversing;
   double max_robot_pose_search_dist;
-  bool use_interpolation;
   bool use_collision_detection;
   double transform_tolerance;
 };

nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp

@@ -90,9 +90,6 @@ ParameterHandler::ParameterHandler(
   declare_parameter_if_not_declared(
     node, plugin_name_ + ".max_robot_pose_search_dist",
     rclcpp::ParameterValue(costmap_size_x / 2.0));
-  declare_parameter_if_not_declared(
-    node, plugin_name_ + ".use_interpolation",
-    rclcpp::ParameterValue(true));
   declare_parameter_if_not_declared(
     node, plugin_name_ + ".use_collision_detection",
     rclcpp::ParameterValue(true));
@@ -162,9 +159,6 @@ ParameterHandler::ParameterHandler(
     params_.max_robot_pose_search_dist = std::numeric_limits<double>::max();
   }
 
-  node->get_parameter(
-    plugin_name_ + ".use_interpolation",
-    params_.use_interpolation);
   node->get_parameter(
     plugin_name_ + ".use_collision_detection",
     params_.use_collision_detection);

nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp

@@ -325,7 +325,7 @@ geometry_msgs::msg::PoseStamped RegulatedPurePursuitController::getLookAheadPoin
   // If the no pose is not far enough, take the last pose
   if (goal_pose_it == transformed_plan.poses.end()) {
     goal_pose_it = std::prev(transformed_plan.poses.end());
-  } else if (params_->use_interpolation && goal_pose_it != transformed_plan.poses.begin()) {
+  } else if (goal_pose_it != transformed_plan.poses.begin()) {
     // Find the point on the line segment between the two poses
     // that is exactly the lookahead distance away from the robot pose (the origin)
     // This can be found with a closed form for the intersection of a segment and a circle

nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp

@@ -379,26 +379,7 @@ TEST(RegulatedPurePursuitTest, lookaheadAPI)
   auto pt = ctrl->getLookAheadPointWrapper(dist, path);
   EXPECT_EQ(pt.pose.position.x, 1.0);
 
-  // test getting next closest point without interpolation
-  node->set_parameter(
-    rclcpp::Parameter(
-      name + ".use_interpolation",
-      rclcpp::ParameterValue(false)));
-  ctrl->configure(node, name, tf, costmap);
-  dist = 3.8;
-  pt = ctrl->getLookAheadPointWrapper(dist, path);
-  EXPECT_EQ(pt.pose.position.x, 4.0);
-
-  // test end of path
-  dist = 100.0;
-  pt = ctrl->getLookAheadPointWrapper(dist, path);
-  EXPECT_EQ(pt.pose.position.x, 9.0);
-
   // test interpolation
-  node->set_parameter(
-    rclcpp::Parameter(
-      name + ".use_interpolation",
-      rclcpp::ParameterValue(true)));
   ctrl->configure(node, name, tf, costmap);
   dist = 3.8;
   pt = ctrl->getLookAheadPointWrapper(dist, path);