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Docs for #3885 and #3879 #478

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Docs for #3885 and #3879 #478

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503aefa
Add docs for #3825
Sep 27, 2023
8bd58f4
Merge branch 'ros-planning:master' into master
tonynajjar Oct 16, 2023
c140f78
Add docs for PR 3879
Oct 16, 2023
0a3ef75
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Oct 16, 2023
740e237
fix
Oct 17, 2023
bc3cdc2
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Oct 17, 2023
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Oct 17, 2023
3093574
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Oct 17, 2023
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13 changes: 12 additions & 1 deletion configuration/packages/collision_monitor/configuring-collision-detector-node.rst
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Expand Up @@ -229,7 +229,7 @@ Observation sources parameters
============== =============================

Description:
Type of polygon shape. Could be ``scan``, ``pointcloud`` or ``range``.
Type of polygon shape. Could be ``scan``, ``pointcloud``, ``range`` or ``polygon``.
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Explain what polygon names / is. Scan/PC2/Range are pretty clear from context but this deserves a note


:``<source name>``.topic:

Expand Down Expand Up @@ -275,6 +275,17 @@ Observation sources parameters
Description:
Angle increment (in radians) between nearby obstacle points at the range arc. Two outermost points from the field of view are not taken into account (they will always exist regardless of this value). Applicable for ``range`` type.

:``<source name>``.sampling_distance:

============== =============================
Type Default
-------------- -----------------------------
double 0.1
============== =============================

Description:
Internally the polygon is sampled for collision detection. sampling_distance is the distance between sampled points of the polygon. Applicable for ``polygon`` type.
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Suggested change
Internally the polygon is sampled for collision detection. sampling_distance is the distance between sampled points of the polygon. Applicable for ``polygon`` type.
Internally the polygon is sampled for collision detection. sampling_distance is the distance between sampled points of the polygon. Applicable for ``polygon`` source type.


:``<source name>``.enabled:

============== =============================
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14 changes: 12 additions & 2 deletions configuration/packages/collision_monitor/configuring-collision-monitor-node.rst
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Expand Up @@ -171,7 +171,6 @@ Parameters
Description:
List of zones (stop/slowdown/limit bounding boxes, footprint, approach circle, etc...). Causes an error, if not specialized.


:observation_sources:

============== =============================
Expand Down Expand Up @@ -367,7 +366,7 @@ Observation sources parameters
============== =============================

Description:
Type of polygon shape. Could be ``scan``, ``pointcloud`` or ``range``.
Type of polygon shape. Could be ``scan``, ``pointcloud``, ``range`` or ``polygon``.

:``<source name>``.topic:

Expand Down Expand Up @@ -413,6 +412,17 @@ Observation sources parameters
Description:
Angle increment (in radians) between nearby obstacle points at the range arc. Two outermost points from the field of view are not taken into account (they will always exist regardless of this value). Applicable for ``range`` type.

:``<source name>``.sampling_distance:

============== =============================
Type Default
-------------- -----------------------------
double 0.1
============== =============================

Description:
Internally the polygon is sampled for collision detection. sampling_distance is the distance between sampled points of the polygon. Applicable for ``polygon`` type.
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Suggested change
Internally the polygon is sampled for collision detection. sampling_distance is the distance between sampled points of the polygon. Applicable for ``polygon`` type.
Internally the polygon is sampled for collision detection. sampling_distance is the distance between sampled points of the polygon. Applicable for ``polygon`` source type.


:``<source name>``.enabled:

============== =============================
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7 changes: 6 additions & 1 deletion migration/Iron.rst
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Expand Up @@ -117,4 +117,9 @@ The costmap activation fails when required transforms are not available
***********************************************************************

In this `PR #3866 <https://github.com/ros-planning/navigation2/pull/3866>`_ the parameter ``initial_transform_timeout`` is added to the costmap. The activation of the costmap now fails,
if the transformation from the robot base frame to the global frame does not become available during this timeout.
if the transformation from the robot base frame to the global frame does not become available during this timeout.

Publishing of collision points in collision monitor/detector for debugging purposes
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Missing adding the polygon source type

***********************************************************************************

In this `PR #3879 <https://github.com/ros-planning/navigation2/pull/3879>`_ the publishing of the collision points that will be considered by the configured polygons was added