From 5c653762dd0374c6e5177b2b9c69a971117b728e Mon Sep 17 00:00:00 2001 From: redvinaa Date: Tue, 2 Jul 2024 13:19:30 +0000 Subject: [PATCH] Update docs Signed-off-by: redvinaa --- nav2_docking/README.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/nav2_docking/README.md b/nav2_docking/README.md index 8fd8780e19..c1aa1b10da 100644 --- a/nav2_docking/README.md +++ b/nav2_docking/README.md @@ -93,10 +93,12 @@ dock1: type: "dockv3" frame: map pose: [0.3, 0.3, 0.0] + id: "kitchen_dock" dock2: type: "dockv1" frame: map pose: [0.0, 0.0, 0.4] + id: "42" ``` If you'd prefer to specify the docks using an external file, you may use the `dock_database` parameter to specify the filepath to the yaml file. The file should be laid out like: @@ -107,13 +109,15 @@ docks: type: "dockv3" frame: map pose: [0.3, 0.3, 0.0] + id: "kitchen_dock" dock2: type: "dockv1" frame: map pose: [0.0, 0.0, 0.4] + id: "42" ``` -Note that you may leave the `type` to an empty string **if** there is only one type of dock being used. The `frame` will also default to `map` if not otherwise specified. The `type` and `pose` fields are required. Note also that these can be in any frame, not just map (i.e. `odom`, `base_link`, etc) in both the database and action requests. +Note that you may leave the `type` to an empty string **if** there is only one type of dock being used. The `frame` will also default to `map` if not otherwise specified. The `type` and `pose` fields are required. Note also that these can be in any frame, not just map (i.e. `odom`, `base_link`, etc) in both the database and action requests. You may also specify the `id` field, for example to select the associated AprilTag. If the dock plugin does not use it, you can leave it unspecified. ## Dock Plugin API