document the new disable_collision_checks param (#617)

* document the new disable_collision_checks param Signed-off-by: David Brown <[email protected]> * Update migration/Jazzy.rst Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: David Brown <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
ros-navigation · Dec 10, 2024 · fe19009 · fe19009
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diff --git a/commander_api/index.rst b/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.                      |
 +---------------------------------------+----------------------------------------------------------------------------+

diff --git a/configuration/packages/bt-plugins/actions/BackUp.rst b/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"/>
diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.rst b/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"/>
diff --git a/configuration/packages/bt-plugins/actions/Spin.rst b/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"/>
 
diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst
@@ -189,3 +189,13 @@ They have been consolidated into a single one:
 
 The ``local_namespace`` parameter has been removed and is now automatically set to the node's name (which is what the second removed constructor did).
 Parameters ``parent_namespace`` / ``use_sim_time`` both provide default values to maintain the ability of creating a ``Costmap2DROS`` object by just specifying a name.
+
+Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions
+*******************************************************************************
+
+In `PR #4785 <https://github.com/ros-navigation/navigation2/pull/4785>`_ a new boolean parameter named `disable_collision_checks` was added to the `DriveOnHeading`, `BackUp` and `Spin` actions to optionally disable collision checking. 
+This can be useful, for example, in cases where you want to move the robot even in the presence of known obstacles.
+
+Default value:
+
+- false