Tune MKMini reverse path control

src/control_pkg/config/control_2d_sim_mkmini.yaml

@@ -4,7 +4,9 @@
 controller_server:
   ros__parameters:
     use_sim_time: True
-    controller_frequency: 10.0
+    # Reeds-Shepp paths switch direction at cusps. A faster control loop keeps
+    # the simulated tricycle from overshooting those short reverse segments.
+    controller_frequency: 20.0
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.0
     min_theta_velocity_threshold: 0.001
@@ -24,9 +26,8 @@ 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
+      # Required to track reverse segments generated by the Reeds-Shepp planner.
+      allow_reversing: true
       use_dynamic_window: false
       use_velocity_scaled_lookahead_dist: false
       use_rotate_to_heading: false
@@ -34,16 +35,16 @@ controller_server:
       use_regulated_linear_velocity_scaling: true
       use_cost_regulated_linear_velocity_scaling: true
 
-      # 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.
+      # Keep the carrot before the next direction-change cusp. A long
+      # lookahead makes a car-like controller cut across short reverse arcs.
       desired_linear_vel: 0.4
-      min_approach_linear_velocity: 0.15
-      lookahead_dist: 0.6
+      min_approach_linear_velocity: 0.08
+      lookahead_dist: 0.35
       cost_scaling_dist: 0.6
       cost_scaling_gain: 1.0
       approach_velocity_scaling_dist: 1.0
       regulated_linear_scaling_min_radius: 1.35
-      regulated_linear_scaling_min_speed: 0.3
+      regulated_linear_scaling_min_speed: 0.1
       max_allowed_time_to_collision_up_to_carrot: 2.0
 
 local_costmap:
@@ -112,7 +113,7 @@ behavior_server:
 velocity_smoother:
   ros__parameters:
     use_sim_time: True
-    smoothing_frequency: 10.0
+    smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
     max_velocity: [0.5, 0.0, 0.5]