Jun 11, 2024: 33 new parameters in nav2_bringup/. · Nav2 default-parameter changelog (demo)

Jun 11, 2024 · 7737a2f · 1 watched files, +45/−0

33 new parameters in nav2_bringup/.

params

Added 4 flags: docking_server.dock_backwards (default off), docking_server.simple_charging_dock.use_battery_status (default off), docking_server.simple_charging_dock.use_external_detection_pose (default on) and docking_server.simple_charging_dock.use_stall_detection (default off).
Added 29 parameters: docking_server.base_frame = "base_link", docking_server.controller.k_delta = 2.0, docking_server.controller.k_phi = 3.0, docking_server.controller.v_linear_max = 0.15, docking_server.controller.v_linear_min = 0.15, docking_server.controller_frequency = 50.0, docking_server.dock_approach_timeout = 30.0, docking_server.dock_plugins = ['simple_charging_dock'] and 21 more.
Most activity in nav2_bringup/ (+45/−0).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (33)

Name	Value	Type	File
`docking_server.base_frame`	`"base_link"`	string	nav2_bringup/params/nav2_params.yaml
`docking_server.controller.k_delta`	`2.0`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.controller.k_phi`	`3.0`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.controller.v_linear_max`	`0.15`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.controller.v_linear_min`	`0.15`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.controller_frequency`	`50.0`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.dock_approach_timeout`	`30.0`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.dock_backwards`	`false`	bool	nav2_bringup/params/nav2_params.yaml
`docking_server.dock_plugins`	`['simple_charging_dock']`	list	nav2_bringup/params/nav2_params.yaml
`docking_server.dock_prestaging_tolerance`	`0.5`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.docks`	`['home_dock']`	list	nav2_bringup/params/nav2_params.yaml
`docking_server.fixed_frame`	`"odom"`	string	nav2_bringup/params/nav2_params.yaml
`docking_server.home_dock.frame`	`map`	expr	nav2_bringup/params/nav2_params.yaml
`docking_server.home_dock.pose`	`[0.0, 0.0, 0.0]`	list	nav2_bringup/params/nav2_params.yaml
`docking_server.home_dock.type`	`'simple_charging_dock'`	string	nav2_bringup/params/nav2_params.yaml
`docking_server.initial_perception_timeout`	`5.0`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.max_retries`	`3`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.docking_threshold`	`0.05`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.external_detection_rotation_pitch`	`-1.57`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.external_detection_rotation_roll`	`-1.57`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.external_detection_rotation_yaw`	`0.0`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.external_detection_timeout`	`1.0`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.external_detection_translation_x`	`-0.18`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.external_detection_translation_y`	`0.0`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.filter_coef`	`0.1`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.plugin`	`'opennav_docking::SimpleChargingDock'`	string	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.staging_x_offset`	`-0.7`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.use_battery_status`	`false`	bool	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.use_external_detection_pose`	`true`	bool	nav2_bringup/params/nav2_params.yaml
`docking_server.simple_charging_dock.use_stall_detection`	`false`	bool	nav2_bringup/params/nav2_params.yaml
`docking_server.undock_angular_tolerance`	`0.1`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.undock_linear_tolerance`	`0.05`	number	nav2_bringup/params/nav2_params.yaml
`docking_server.wait_charge_timeout`	`5.0`	number	nav2_bringup/params/nav2_params.yaml

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Nav2 update (Jun 11): new docking_server/dock_prestaging_tolerance = 0.5 - new docking_server/simple_charging_dock/docking_threshold = 0.05 - new docking_server/undock_angular_tolerance = 0.1 - new docking_server/undock_linear_tolerance = 0.05

243/280 weighted chars

+1 more on the details page. Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/7737a2f.html Commit: https://github.com/ros-navigation/navigation2/commit/7737a2fafa27c18efef4689582799bdce6aeb1df Values are repo defaults from the params files.

141/280 weighted chars

Modules touched

Module	Added	Modified	Removed	Lines +	Lines −
`nav2_bringup`	0	1	0	+45	−0

Watched files (1)

Show file list

	Path	Lines	Note
M	nav2_bringup/params/nav2_params.yaml	+45/−0

Commit message

Adding Nav2 / Open Navigation Docking (#4406)

* adding docking temp build test

* add missing exmport

* fix test

* adding server to bringup

* add docking server to Nav2 package; migrate to msgs package

* migrate msgs

* in line versions with rest of stack

* removing docking msgs from main server cmake

* fix bug

* linting and logging

* bump cache

* fix tests with rclpy API action spinning

* add full metapackage repos