SeReST (Safe Reparameterized Time) controller for path tracking. More...

#include <SerestController.hpp>

Inheritance diagram for SerestController:

Collaboration diagram for SerestController:

Classes
struct	Vec2
	Simple 2D vector utility type. More...

Public Member Functions
void	on_initialize () override
	Initialize parameters and internal state.
	SerestController ()
	Default constructor.
void	update_rt (NavState &nav_state) override
	Real-time control update (called ~20–30 Hz).
	~SerestController () override
	Destructor.

Detailed Description

SeReST (Safe Reparameterized Time) controller for path tracking.

This controller follows a discrete polyline path (e.g., A* on grid) using a local geometric substitute (LGS) to obtain a smooth reference heading and a surrogate curvature. Progress along the path is time–reparameterized by a safety governor that depends on the closest obstacle distance. It supports:

Forward-only or reverse-enabled operation
Smooth slowdown and precise arrival at a goal pose (position + yaw)
Real-time reaction to dynamic obstacles with emergency stop
Corner-guard behavior to avoid opening to the outside of tight turns

The controller consumes:

A continuously refreshed path (robot -> goal)
Robot pose (odometry) and outputs: a Twist (linear, angular velocities).

Constructor & Destructor Documentation

◆ SerestController()

SerestController ( )

default

Default constructor.

◆ ~SerestController()

~SerestController ( )

overridedefault

Destructor.

Member Function Documentation

◆ on_initialize()

void on_initialize ( )

override

Initialize parameters and internal state.

Exceptions

std::runtime_error on initialization error.

◆ update_rt()

void update_rt ( NavState & nav_state )

override

Real-time control update (called ~20–30 Hz).

Consumes NavState keys:

"path": nav_msgs::msg::Path
"robot_pose": nav_msgs::msg::Odometry
(optional) "closest_obstacle_distance": double

Produces:

"cmd_vel": geometry_msgs::msg::TwistStamped

Parameters

[in,out] nav_state Blackboard for inputs/outputs and diagnostics.

The documentation for this class was generated from the following files:

controllers/easynav_serest_controller/include/easynav_serest_controller/SerestController.hpp
controllers/easynav_serest_controller/src/easynav_serest_controller/SerestController.cpp

Classes