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Adding disengagement param to docs for rotation shim controller #595

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Adding disengagement param to docs for rotation shim controller #595

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13 changes: 12 additions & 1 deletion configuration/packages/configuring-rotation-shim-controller.rst
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Expand Up @@ -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:

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6 changes: 6 additions & 0 deletions migration/Jazzy.rst
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Expand Up @@ -99,3 +99,9 @@ In `PR #4675 <https://github.com/ros-navigation/navigation2/pull/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.
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