From 3342f61946832bee405ad59bdd06c3a697396fb1 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 1 Oct 2024 16:23:23 -0700 Subject: [PATCH] adding disengagement param to docs Signed-off-by: Steve Macenski --- .../configuring-rotation-shim-controller.rst | 13 ++++++++++++- migration/Jazzy.rst | 6 ++++++ 2 files changed, 18 insertions(+), 1 deletion(-) diff --git a/configuration/packages/configuring-rotation-shim-controller.rst b/configuration/packages/configuring-rotation-shim-controller.rst index f42339832..f339318ad 100644 --- a/configuration/packages/configuring-rotation-shim-controller.rst +++ b/configuration/packages/configuring-rotation-shim-controller.rst @@ -39,7 +39,18 @@ Rotation Shim Controller Parameters ============== =========================== Description - Maximum angular distance, in radians, away from the path heading to trigger rotation until within. + Maximum angular distance, in radians, away from the path heading to trigger rotation + +:angular_disengage_threshold: + + ============== =========================== + Type Default + -------------- --------------------------- + double 0.3925 + ============== =========================== + + Description + Angular distance, in radians, away from the path heading to rotation until within (new as of Oct 1, 2024 - previous behavior rotated until ``angular_dist_threshold``). :forward_sampling_distance: diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index 978a3fa68..29524f0ed 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -99,3 +99,9 @@ In `PR #4675 `_ a ``pub Default value: - true + +Rotation Shim Disengagement Threshold +************************************* + +The parameter ``angular_disengage_threshold`` was introduced as a new threshold for disengagement of the rotation in the rotation shim controller. +Previous behavior rotated until the ``angular_dist_threshold``, now it can rotate until the ``angular_disengage_threshold``, which can be set closer to the path's orientation if desired. \ No newline at end of file