Merge branch 'master' into plugin_container_layer_docs

commander_api/index.rst

@@ -74,13 +74,16 @@ New as of September 2023: the simple navigator constructor will accept a `namesp
 | goal_checker_id='')                   | ``PoseStamped``, ``nav_msgs/Path``.                                        |
 +---------------------------------------+----------------------------------------------------------------------------+
 | spin(spin_dist=1.57,                  | Requests the robot to performs an in-place rotation by a given angle.      |
-| time_allowance=10)                    |                                                                            |
+| time_allowance=10,                    |                                                                            |
+| disable_collision_checks=False)       |                                                                            |
 +---------------------------------------+----------------------------------------------------------------------------+
 | driveOnHeading(dist=0.15,             | Requests the robot to drive on heading by a given distance.                |
-| speed=0.025, time_allowance=10)       |                                                                            |
+| speed=0.025, time_allowance=10,       |                                                                            |
+| disable_collision_checks=False)       |                                                                            |
 +---------------------------------------+----------------------------------------------------------------------------+
 | backup(backup_dist=0.15,              | Requests the robot to back up by a given distance.                         |
-| backup_speed=0.025, time_allowance=10)|                                                                            |
+| backup_speed=0.025, time_allowance=10,|                                                                            |
+| disable_collision_checks=False)       |                                                                            |
 +---------------------------------------+----------------------------------------------------------------------------+
 | assistedTeleop(time_allowance=30)     | Requests the robot to run the assisted teleop action.                      |
 +---------------------------------------+----------------------------------------------------------------------------+

configuration/packages/bt-plugins/actions/BackUp.rst

@@ -67,6 +67,17 @@ Input Ports
   Description
     	Action server timeout (ms).
 
+:disable_collision_checks:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool   false
+  ====== =======
+
+  Description
+      Disable collision checking.
+
 Output Ports
 ------------
 
@@ -86,4 +97,4 @@ Example
 
 .. code-block:: xml
 
-  <BackUp backup_dist="-0.2" backup_speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{backup_error_code}"/>
+  <BackUp backup_dist="-0.2" backup_speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{backup_error_code}" disable_collision_checks="false"/>

configuration/packages/bt-plugins/actions/DriveOnHeading.rst

@@ -66,6 +66,17 @@ Input Ports
   Description
     	Action server timeout (ms).
 
+:disable_collision_checks:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool   false
+  ====== =======
+
+  Description
+      Disable collision checking.
+
 Output Ports
 ------------
 
@@ -85,4 +96,4 @@ Example
 
 .. code-block:: xml
 
-  <DriveOnHeading dist_to_travel="0.2" speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{drive_on_heading_error_code}"/>
+  <DriveOnHeading dist_to_travel="0.2" speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{drive_on_heading_error_code}" disable_collision_checks="false"/>

configuration/packages/bt-plugins/actions/Spin.rst

@@ -67,6 +67,17 @@ Input Ports
   Description
     	True if the action is being used as a recovery.
 
+:disable_collision_checks:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool   false
+  ====== =======
+
+  Description
+      Disable collision checking.
+
 Output Ports
 ------------
 
@@ -86,5 +97,5 @@ Example
 
 .. code-block:: xml
 
-  <Spin spin_dist="1.57" server_name="spin" server_timeout="10" is_recovery="true" error_code_id="{spin_error_code}"/>
+  <Spin spin_dist="1.57" server_name="spin" server_timeout="10" is_recovery="true" error_code_id="{spin_error_code}" disable_collision_checks="false"/>
 

configuration/packages/bt-plugins/conditions/IsStopped.rst

@@ -14,7 +14,7 @@ Input Port
   ======= =======
   Type    Default
   ------- -------
-  double    N/A
+  double   0.01
   ======= =======
 
   Description

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

@@ -200,12 +200,13 @@ Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 Polygons parameters
 ===================
@@ -608,7 +609,7 @@ Here is an example of configuration YAML for the Collision Monitor.
         source_timeout: 5.0
         base_shift_correction: True
         stop_pub_timeout: 2.0
-        enable_stamped_cmd_vel: False
+        enable_stamped_cmd_vel: True  # False for Jazzy or older
         use_realtime_priority: false
         polygons: ["PolygonStop", "PolygonSlow", "FootprintApproach"]
         PolygonStop:

configuration/packages/configuring-behavior-server.rst

@@ -233,12 +233,13 @@ Spin distance is given from the action request
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 
 BackUp Behavior Parameters
@@ -262,12 +263,13 @@ Backup distance, speed and time_allowance is given from the action request.
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 DriveOnHeading Behavior Parameters
 **********************************
@@ -290,12 +292,13 @@ DriveOnHeading distance, speed and time_allowance is given from the action reque
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 :bond_heartbeat_period:
 
@@ -351,12 +354,13 @@ AssistedTeleop time_allowance is given in the action request
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 Example
 *******
@@ -388,4 +392,4 @@ Example
         max_rotational_vel: 1.0
         min_rotational_vel: 0.4
         rotational_acc_lim: 3.2
-        enable_stamped_cmd_vel: false
+        enable_stamped_cmd_vel: true  # default false in Jazzy or older

configuration/packages/configuring-bt-xml.rst

@@ -68,6 +68,7 @@ Condition Plugins
   bt-plugins/conditions/GloballyUpdatedGoal.rst
   bt-plugins/conditions/InitialPoseReceived.rst
   bt-plugins/conditions/IsStuck.rst
+  bt-plugins/conditions/IsStopped.rst
   bt-plugins/conditions/TimeExpired.rst
   bt-plugins/conditions/IsBatteryLow.rst
   bt-plugins/conditions/IsPathValid.rst

configuration/packages/configuring-controller-server.rst

@@ -210,12 +210,13 @@ Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 :bond_heartbeat_period:
 

configuration/packages/configuring-costmaps.rst

@@ -90,17 +90,6 @@ Costmap2D ROS Parameters
   Description
     Minimum cost of an occupancy grid map to be considered a lethal obstacle.
 
-:map_topic:
-
-  ============== =======
-  Type           Default
-  -------------- -------
-  string         "map"   
-  ============== =======
-
-  Description
-    Topic of map from map_server or SLAM.
-
 :map_vis_z:
 
   ============== =======

configuration/packages/configuring-loopback-sim.rst

@@ -74,11 +74,12 @@ Parameters
   ============== ==============
   Type           Default
   -------------- --------------
-  string         false
+  string         True
   ============== ==============
 
   Description
-    Whether cmd_vel is stamped or unstamped (i.e. Twist or TwistStamped)
+    Whether cmd_vel is stamped or unstamped (i.e. Twist or TwistStamped).
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 :scan_publish_dur:
 

configuration/packages/configuring-velocity-smoother.rst

@@ -153,12 +153,13 @@ Velocity Smoother Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 :bond_heartbeat_period:
 

configuration/packages/costmap-plugins/obstacle.rst

@@ -86,6 +86,14 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Topic of data.
 
+  Relative topics will be relative to the node's parent namespace.
+  For example, if you specify `topic: scan` in the `obstacle_layer` of a `local_costmap` and you launch your bringup with a `tb4` namespace:
+
+  * User chosen namespace is `tb4`.
+  * User chosen topic is `scan`.
+  * Topic will be remapped to `/tb4/scan` without `local_costmap`.
+  * Use global topic `/scan` if you do not wish the node namespace to apply.
+
 :``<obstacle layer>``. ``<data source>``.sensor_frame:
 
   ====== =======

configuration/packages/costmap-plugins/range.rst

@@ -29,6 +29,14 @@ This costmap layer implements a plugin that processes sonar, IR, or other 1-D se
   Description
     Range topics to subscribe to.
 
+  Relative topics will be relative to the node's parent namespace.
+  For example, if you specify `topics: [range1, /range2]` in the `range_layer` of a `local_costmap` and you launch your bringup with a `tb4` namespace:
+
+  * User chosen namespace is `tb4`.
+  * User chosen topics are [`range1`, `/range2`].
+  * Topic will be remapped to `/tb4/range1`, without `local_costmap`, and `/range2`.
+  * Use global topics such as `/range2` if you do not wish the node namespace to apply.
+
 :``<range layer>``.phi:
 
   ====== =======

configuration/packages/costmap-plugins/static.rst

@@ -67,8 +67,16 @@ This implements a costmap layer taking in a map from either SLAM or ``map_server
   ====== =======
   Type   Default
   ------ -------
-  string ""
+  string "map"
   ====== =======
 
   Description
-    Map topic to subscribe to. If left empty the map topic will default to the global `map_topic` parameter in `costmap_2d_ros`.
+    Map topic to subscribe to.
+
+  Relative topics will be relative to the node's parent namespace.
+  For example, if you specify `map_topic: map` in the `static_layer` of a `global_costmap` and you launch your bringup with a `tb4` namespace:
+
+  * User chosen namespace is `tb4`.
+  * User chosen topic is `map`.
+  * Topic will be remapped to `/tb4/map` without `global_costmap`.
+  * Use global topic `/map` if you do not wish the node namespace to apply.

configuration/packages/costmap-plugins/voxel.rst

@@ -151,6 +151,14 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
   Description
     Topic of data.
 
+  Relative topics will be relative to the node's parent namespace.
+  For example, if you specify `topic: scan` in the `voxel_layer` of a `local_costmap` and you launch your bringup with a `tb4` namespace:
+
+  * User chosen namespace is `tb4`.
+  * User chosen topic is `scan`.
+  * Topic will be remapped to `/tb4/scan` without `local_costmap`.
+  * Use global topic `/scan` if you do not wish the node namespace to apply.
+
 :``<voxel layer>``. ``<data source>``.sensor_frame:
 
   ====== =======