From 6bf2f4223986d3a27cd99f97f914d696d8088723 Mon Sep 17 00:00:00 2001
From: chyoo <chyoo@futuredrive.net>
Date: Mon, 10 Aug 2026 09:02:16 +0900
Subject: [PATCH] fix(nav2): tune mkmini simulation control

---
 .../config/control_2d_sim_mkmini.yaml           | 17 +++++++++++------
 1 file changed, 11 insertions(+), 6 deletions(-)

diff --git a/src/control_pkg/config/control_2d_sim_mkmini.yaml b/src/control_pkg/config/control_2d_sim_mkmini.yaml
index 7b48d0f..301e769 100644
--- a/src/control_pkg/config/control_2d_sim_mkmini.yaml
+++ b/src/control_pkg/config/control_2d_sim_mkmini.yaml
@@ -24,6 +24,8 @@ controller_server:
       stateful: True
     FollowPath:
       plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
+      # Reverse remains available to Nav2 recovery behaviours, but the normal
+      # path follower must not alternate direction along a goal path.
       allow_reversing: false
       use_dynamic_window: false
       use_velocity_scaled_lookahead_dist: false
@@ -32,13 +34,15 @@ controller_server:
       use_regulated_linear_velocity_scaling: true
       use_cost_regulated_linear_velocity_scaling: true
 
-      desired_linear_vel: 0.5
-      min_approach_linear_velocity: 0.3
-      lookahead_dist: 1.0
+      # A 1 m lookahead at 0.5 m/s cuts across the 1.35 m-radius vehicle
+      # paths. Keep the simulated tricycle close to the planned arc.
+      desired_linear_vel: 0.3
+      min_approach_linear_velocity: 0.15
+      lookahead_dist: 0.6
       cost_scaling_dist: 0.6
       cost_scaling_gain: 1.0
-      approach_velocity_scaling_dist: 1.5
-      regulated_linear_scaling_min_radius: 1.1
+      approach_velocity_scaling_dist: 1.0
+      regulated_linear_scaling_min_radius: 1.35
       regulated_linear_scaling_min_speed: 0.3
       max_allowed_time_to_collision_up_to_carrot: 2.0
 
@@ -54,7 +58,8 @@ local_costmap:
       width: 3
       height: 3
       resolution: 0.05
-      footprint: "[ [0.42, 0.305], [0.42, -0.305], [-0.42, -0.305], [-0.42, 0.305] ]"
+      # Match the MK-mini Gazebo collision bounds used by the global planner.
+      footprint: "[ [0.44, 0.42], [0.44, -0.42], [-0.44, -0.42], [-0.44, 0.42] ]"
       plugins: ["obstacle_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"