From 7a2eac8cffb7cd1ed7d748cec5c0a12ec2e95e33 Mon Sep 17 00:00:00 2001 From: Ramon Wijnands Date: Mon, 25 Mar 2024 16:14:48 +0100 Subject: [PATCH] Document gracefull cancellation API Signed-off-by: Ramon Wijnands --- plugin_tutorials/docs/writing_new_nav2controller_plugin.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst b/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst index 8417dd474..20263fba2 100644 --- a/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst +++ b/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst @@ -73,6 +73,11 @@ The list of methods, their descriptions, and necessity are presented in the tabl | | robot to drive. This method passes 2 parameters: reference to the current robot | | | | pose and its current velocity. | | +---------------------------+---------------------------------------------------------------------------------------+------------------------+ +| cancel() | Method is called when the controller server receives a cancel request. If this method | No | +| | is uninplemented, the controller will immediately stop when receiving a cancel | | +| | request. If this method is implemented, the controller can perform a more graceful | | +| | stop and signal the controller server when it is done. | | ++---------------------------+---------------------------------------------------------------------------------------+------------------------+ | setSpeedLimit() | Method is called when it is required to limit the maximum linear speed of the robot. | Yes | | | Speed limit could be expressed in absolute value (m/s) or in percentage from maximum | | | | robot speed. Note that typically, maximum rotational speed is being limited | |