From c915ebda010ac70a4d7fe06d2a25108ed3be787a Mon Sep 17 00:00:00 2001 From: Jakubach Date: Sat, 9 Nov 2024 22:35:09 +0100 Subject: [PATCH] Updated readme --- nav2_docking/README.md | 20 ++++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/nav2_docking/README.md b/nav2_docking/README.md index fba8ca11394..8712ec32f40 100644 --- a/nav2_docking/README.md +++ b/nav2_docking/README.md @@ -203,19 +203,23 @@ For debugging purposes, there are several publishers which can be used with RVIZ | base_frame | Robot's base frame for control law | string | "base_link" | | fixed_frame | Fixed frame to use, recommended to be a smooth odometry frame **not** map | string | "odom" | | dock_backwards | Whether the robot is docking with the dock forward or backward in motion | bool | false | +| dock_backwards_without_sensor | Whether the robot is docking based on initial detection without updates | bool | false | | dock_prestaging_tolerance | L2 distance in X,Y,Theta from the staging pose to bypass navigation | double | 0.5 | | dock_plugins | A set of dock plugins to load | vector | N/A | | 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 | +| initial_rotation | Enable a rotation in place to the goal before starting the path. The control law may generate large sweeping arcs to the goal pose, depending on the initial robot orientation and k_phi, k_delta. | bool | true | +| initial_rotation_min_angle| The difference in the path orientation and the starting robot orientation to trigger a rotate in place, if initial_rotation is enabled. | double | 0.5 | +| controller.k_phi | Ratio of the rate of change of angle relative to distance from the target. Much be > 0. | double | 3.0 | +| controller.k_delta | Higher values result in converging to the target more quickly. | double | 2.0 | +| controller.beta | Parameter to reduce linear velocity proportional to path curvature. Increasing this linearly reduces the velocity (v(t) = v_max / (1 + beta * |curv|^lambda)). | double | 0.4 | +| controller.lambda | Parameter to reduce linear velocity proportional to path curvature. Increasing this exponentially reduces the velocity (v(t) = v_max / (1 + beta * |curv|^lambda)). | double | 2.0 | +| controller.v_linear_min | Minimum velocity for approaching dock. | double | 0.1 | +| controller.v_linear_max | Maximum velocity for approaching dock. | double | 0.25 | +| controller.v_angular_min | Minimum angular velocity for approaching dock. | double | 0.15 | +| controller.v_angular_max | Maximum angular velocity for approaching dock. | double | 0.75 | +| controller.slowdown_radius | Radius to end goal to commense slow down. | double | 0.25 | Note: `dock_plugins` and either `docks` or `dock_database` are required.