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

_sources/configuration/packages/configuring-rotation-shim-controller.rst.txt

@@ -107,6 +107,17 @@ Rotation Shim Controller Parameters
   Description
     If true, the rotationShimController will take back control of the robot when in XY tolerance of the goal and start rotating towards the goal heading.
 
+:rotate_to_heading_once:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  bool           false
+  ============== =============================
+
+  Description
+    If true, the rotationShimController will only rotate to heading once on a new goal, not each time a path is set.
+
 Example
 *******
 .. code-block:: yaml

configuration/packages/configuring-rotation-shim-controller.html

@@ -1257,6 +1257,26 @@ <h2>Rotation Shim Controller Parameters<a class="headerlink" href="#rotation-shi
 </dd>
 </dl>
 </dd>
+<dt class="field-even">rotate_to_heading_once</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>bool</p></td>
+<td><p>false</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>If true, the rotationShimController will only rotate to heading once on a new goal, not each time a path is set.</p>
+</dd>
+</dl>
+</dd>
 </dl>
 </div>
 <div class="section" id="example">