Added docs and params

Signed-off-by: Alberto Tudela <[email protected]>

nav2_bringup/params/nav2_params.yaml

@@ -421,6 +421,13 @@ docking_server:
       k_delta: 2.0
       v_linear_min: 0.15
       v_linear_max: 0.15
+      use_collision_detection: true
+      costmap_topic: "/local_costmap/costmap_raw"
+      footprint_topic: "/local_costmap/published_footprint"
+      transform_tolerance: 0.1
+      projection_time: 5.0
+      simulation_step: 0.1
+      dock_collision_threshold: 0.3
 
 loopback_simulator:
   ros__parameters:

nav2_docking/README.md

@@ -208,14 +208,21 @@ For debugging purposes, there are several publishers which can be used with RVIZ
 | dock_database  |  The filepath to the dock database to use for this environment | string |  N/A  |
 | docks  |  Instead of `dock_database`, the set of docks specified in the params file itself | vector<string> | N/A     |
 | navigator_bt_xml  | BT XML to use for Navigator, if non-default | string | ""     |
-| controller.k_phi  | TODO | double | 3.0  |
-| controller.k_delta  |  TODO | double | 2.0     |
-| controller.beta  |  TODO | double | 0.4  |
-| controller.lambda  |  TODO | double | 2.0     |
-| controller.v_linear_min  |  TODO | double | 0.1     |
-| controller.v_linear_max |  TODO | double | 0.25    |
-| controller.v_angular_max |  TODO | double | 0.75    |
-| controller.slowdown_radius |  TODO | double | 0.25     |
+| controller.k_phi  | Ratio of the rate of change in phi to the rate of change in r. Controls the convergence of the slow subsystem  | double | 3.0  |
+| controller.k_delta  | Constant factor applied to the heading error feedback. Controls the convergence of the fast subsystem | double | 2.0     |
+| controller.beta  | Constant factor applied to the path curvature. This value must be positive. Determines how fast the velocity drops when the curvature increases | double | 0.4  |
+| controller.lambda  | Constant factor applied to the path curvature. This value must be greater or equal to 1. Determines the sharpness of the curve: higher lambda implies sharper curves | double | 2.0     |
+| controller.v_linear_min | Minimum linear velocity (m/s) | double | 0.1     |
+| controller.v_linear_max | Maximum linear velocity (m/s) | double | 0.25    |
+| controller.v_angular_max | Maximum angular velocity (rad/s) produced by the control law | double | 0.75    |
+| controller.slowdown_radius | Radius (m) around the goal pose in which the robot will start to slow down | double | 0.25     |
+| controller.use_collision_detection | Whether to use collision detection to avoid obstacles | bool | true     |
+| controller.costmap_topic | The topic to use for the costmap | string | "local_costmap/costmap_raw"     |
+| controller.footprint_topic | The topic to use for the robot's footprint | string | "local_costmap/published_footprint"     |
+| controller.transform_tolerance | Time with which to post-date the transform that is published, to indicate that this transform is valid into the future. | double | 0.1     |
+| controller.projection_time | Time to look ahead for collisions (s). | double | 5.0     |
+| controller.simulation_time_step | Time step for projections (s). | double | 0.1     |
+| controller.dock_collision_threshold | Distance (m) to the dock pose to not consider it a collision | double | 0.3     |
 
 Note: `dock_plugins` and either `docks` or `dock_database` are required.