[RPP] Update README

Author: fantalukas

nav2_regulated_pure_pursuit_controller/README.md

@@ -62,7 +62,8 @@ Note: The maximum allowed time to collision is thresholded by the lookahead poin
 | `use_velocity_scaled_lookahead_dist` | Whether to use the velocity scaled lookahead distances or constant `lookahead_distance` | 
 | `min_approach_linear_velocity` | The minimum velocity threshold to apply when approaching the goal | 
 | `approach_velocity_scaling_dist` | Integrated distance from end of transformed path at which to start applying velocity scaling. This defaults to the forward extent of the costmap minus one costmap cell length. | 
-| `max_allowed_time_to_collision_up_to_carrot` | The time to project a velocity command to check for collisions, limited to maximum distance of lookahead distance selected | 
+| `use_collision_detection` | Whether to enable collision detection. |
+| `max_allowed_time_to_collision_up_to_carrot` | The time to project a velocity command to check for collisions when `use_collision_detection` is `true`. It is limited to maximum distance of lookahead distance selected. |
 | `use_regulated_linear_velocity_scaling` | Whether to use the regulated features for curvature | 
 | `use_cost_regulated_linear_velocity_scaling` | Whether to use the regulated features for proximity to obstacles | 
 | `cost_scaling_dist` | The minimum distance from an obstacle to trigger the scaling of linear velocity, if `use_cost_regulated_linear_velocity_scaling` is enabled. The value set should be smaller or equal to the `inflation_radius` set in the inflation layer of costmap, since inflation is used to compute the distance from obstacles | 
@@ -111,6 +112,7 @@ controller_server:
       min_approach_linear_velocity: 0.05
       use_approach_linear_velocity_scaling: true
       approach_velocity_scaling_dist: 1.0
+      use_collision_detection: true
       max_allowed_time_to_collision_up_to_carrot: 1.0
       use_regulated_linear_velocity_scaling: true
       use_cost_regulated_linear_velocity_scaling: false