[skip ci] publish latest

Signed-off-by: navigation2-ci <[email protected]>

2021summerOfCode/Summer_2021_Student_Program.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/assisted_teleop.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/create_configuration_assistant.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/create_plugins.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/dynamic.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/grid_maps.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/localization.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/multithreading.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/navigation_rebranding.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/safety_node.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/semantics.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/spinners.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/testing.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

2021summerOfCode/projects/twist_n_config.html

@@ -918,6 +918,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>

_sources/configuration/packages/collision_monitor/configuring-collision-detector-node.rst.txt

@@ -132,11 +132,11 @@ Polygons parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  vector<double> N/A
+  string         N/A
   ============== =============================
 
   Description:
-    Polygon vertexes, listed in ``{p1.x, p1.y, p2.x, p2.y, p3.x, p3.y, ...}`` format (e.g. ``{0.5, 0.25, 0.5, -0.25, 0.0, -0.25, 0.0, 0.25}`` for the square in the front). Used for ``polygon`` type. Minimum 3 points for a triangle polygon. If not specified, the collision detector will use dynamic polygon subscription to ``polygon_sub_topic``
+    Polygon vertexes, listed in ``"[[p1.x, p1.y], [p2.x, p2.y], [p3.x, p3.y], ...]"`` format (e.g. ``"[[0.5, 0.25], [0.5, -0.25], [0.0, -0.25], [0.0, 0.25]]"`` for the square in the front). Used for ``polygon`` type. Minimum 3 points for a triangle polygon. If not specified, the collision detector will use dynamic polygon subscription to ``polygon_sub_topic``
 
 :``<polygon_name>``.polygon_sub_topic:
 
@@ -314,7 +314,7 @@ Here is an example of configuration YAML for the Collision Detector.
         polygons: ["PolygonFront"]
         PolygonFront:
           type: "polygon"
-          points: [0.3, 0.3, 0.3, -0.3, 0.0, -0.3, 0.0, 0.3]
+          points: "[[0.3, 0.3], [0.3, -0.3], [0.0, -0.3], [0.0, 0.3]]"
           action_type: "none"
           min_points: 4
           visualize: True

_sources/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst.txt

@@ -215,11 +215,11 @@ Polygons parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  vector<double> N/A
+  string         N/A
   ============== =============================
 
   Description:
-    Polygon vertexes, listed in ``{p1.x, p1.y, p2.x, p2.y, p3.x, p3.y, ...}`` format (e.g. ``{0.5, 0.25, 0.5, -0.25, 0.0, -0.25, 0.0, 0.25}`` for the square in the front). Used for ``polygon`` type. Minimum 3 points for a triangle polygon. If not specified, the collision monitor will use dynamic polygon subscription to ``polygon_sub_topic`` for points in the ``stop``/``slowdown``/``limit`` action types, or footprint subscriber to ``footprint_topic`` for ``approach`` action type.
+    Polygon vertexes, listed in ``"[[p1.x, p1.y], [p2.x, p2.y], [p3.x, p3.y], ...]"`` format (e.g. ``"[[0.5, 0.25], [0.5, -0.25], [0.0, -0.25], [0.0, 0.25]]"`` for the square in the front). Used for ``polygon`` type. Minimum 3 points for a triangle polygon. If not specified, the collision monitor will use dynamic polygon subscription to ``polygon_sub_topic`` for points in the ``stop``/``slowdown``/``limit`` action types, or footprint subscriber to ``footprint_topic`` for ``approach`` action type.
 
 :``<polygon_name>``.polygon_sub_topic:
 
@@ -477,7 +477,7 @@ Here is an example of configuration YAML for the Collision Monitor.
           enabled: True
         PolygonSlow:
           type: "polygon"
-          points: [1.0, 1.0, 1.0, -1.0, -0.5, -1.0, -0.5, 1.0]
+          points: "[[1.0, 1.0], [1.0, -1.0], [-0.5, -1.0], [-0.5, 1.0]]"
           action_type: "slowdown"
           min_points: 4  # max_points: 3 for Humble
           slowdown_ratio: 0.3
@@ -486,7 +486,7 @@ Here is an example of configuration YAML for the Collision Monitor.
           enabled: True
         PolygonLimit:
           type: "polygon"
-          points: [0.5, 0.5, 0.5, -0.5, -0.5, -0.5, -0.5, 0.5]
+          points: "[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5], [-0.5, 0.5]]"
           action_type: "limit"
           min_points: 4  # max_points: 3 for Humble
           linear_limit: 0.4

_sources/migration/Iron.rst.txt

@@ -5,6 +5,24 @@ Iron to Jazzy
 
 Moving from ROS 2 Iron to Jazzy, a number of stability improvements were added that we will not specifically address here.
 
+Change polygon points parameter format in Collision Monitor
+***********************************************************
+
+`PR #4020 <https://github.com/ros-planning/navigation2/pull/4020>`_ changes the format of the Polygon points parameter from ``vector<double>`` to ``string``. This makes the polygon description more uniform accross the Collision Monitor and Costmap_2D.
+Now we can define a polygon's points in string that has a ``vector<vector<double>>`` structure like this ``"[[p1.x, p1.y], [p2.x, p2.y], [p3.x, p3.y],...]"`` with a minimum of 4 points described. An example of a Square polygon will be written as follows.
+
+
+.. code-block:: yaml
+
+    PolygonFront:
+      type: "polygon"
+      points: "[[0.3, 0.3], [0.3, -0.3], [0.0, -0.3], [0.0, 0.3]]"
+      action_type: "none"
+      min_points: 4
+      visualize: True
+      polygon_pub_topic: "polygon_front"
+
+
 Introduction of Soft-Real Time Action Servers
 *********************************************
 

_sources/tutorials/docs/using_collision_monitor.rst.txt

@@ -41,14 +41,14 @@ For this setup, the following lines should be added into ``collision_monitor_par
     polygons: ["PolygonStop", "PolygonSlow"]
     PolygonStop:
       type: "polygon"
-      points: [0.4, 0.3, 0.4, -0.3, 0.0, -0.3, 0.0, 0.3]
+      points: "[[0.4, 0.3], [0.4, -0.3], [0.0, -0.3], [0.0, 0.3]]"
       action_type: "stop"
       min_points: 4  # max_points: 3 for Humble
       visualize: True
       polygon_pub_topic: "polygon_stop"
     PolygonSlow:
       type: "polygon"
-      points: [0.6, 0.4, 0.6, -0.4, 0.0, -0.4, 0.0, 0.4]
+      points: "[[0.6, 0.4], [0.6, -0.4], [0.0, -0.4], [0.0, 0.4]]"
       action_type: "slowdown"
       min_points: 4  # max_points: 3 for Humble
       slowdown_ratio: 0.3
@@ -89,14 +89,14 @@ The whole ``nav2_collision_monitor/params/collision_monitor_params.yaml`` file i
         polygons: ["PolygonStop", "PolygonSlow"]
         PolygonStop:
           type: "polygon"
-          points: [0.4, 0.3, 0.4, -0.3, 0.0, -0.3, 0.0, 0.3]
+          points: "[[0.4, 0.3], [0.4, -0.3], [0.0, -0.3], [0.0, 0.3]]"
           action_type: "stop"
           min_points: 4  # max_points: 3 for Humble
           visualize: True
           polygon_pub_topic: "polygon_stop"
         PolygonSlow:
           type: "polygon"
-          points: [0.6, 0.4, 0.6, -0.4, 0.0, -0.4, 0.0, 0.4]
+          points: "[[0.6, 0.4], [0.6, -0.4], [0.0, -0.4], [0.0, 0.4]]"
           action_type: "slowdown"
           min_points: 4  # max_points: 3 for Humble
           slowdown_ratio: 0.3

about/index.html

@@ -920,6 +920,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../migration/Iron.html">Iron to Jazzy</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor">Change polygon points parameter format in Collision Monitor</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-soft-real-time-action-servers">Introduction of Soft-Real Time Action Servers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#opennav-coverage-project"><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch">Introduce a new Multi-Robot Bringup Launch</a></li>