From 092c93833094a3c6e9cdbe50302293856a77a87e Mon Sep 17 00:00:00 2001 From: Alberto Tudela Date: Thu, 21 Nov 2024 10:59:57 +0100 Subject: [PATCH] Added docs and params Signed-off-by: Alberto Tudela --- nav2_bringup/params/nav2_params.yaml | 7 +++++++ nav2_docking/README.md | 23 +++++++++++++++-------- 2 files changed, 22 insertions(+), 8 deletions(-) diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml index 2027f4c0e1c..69fe42195eb 100644 --- a/nav2_bringup/params/nav2_params.yaml +++ b/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: diff --git a/nav2_docking/README.md b/nav2_docking/README.md index fba8ca11394..ceeb5f29a41 100644 --- a/nav2_docking/README.md +++ b/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 | 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.