Nav2 default-parameter changelog (demo)
· 90a6c8d · 1 watched files, +7/−0

7 new parameters in nav2_bringup/.

params
  • Added 1 flag: docking_server.controller.use_collision_detection (default on).
  • Added 6 parameters: docking_server.controller.costmap_topic = "/local_costmap/costmap_raw", docking_server.controller.dock_collision_threshold = 0.3, docking_server.controller.footprint_topic = "/local_costmap/published_footprint", docking_server.controller.projection_time = 5.0, docking_server.controller.simulation_step = 0.1 and docking_server.controller.transform_tolerance = 0.1.
  • Most activity in nav2_bringup/ (+7/−0).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (7)

NameValueTypeFile
docking_server.controller.costmap_topic"/local_costmap/costmap_raw"stringnav2_bringup/params/nav2_params.yaml
docking_server.controller.dock_collision_threshold0.3numbernav2_bringup/params/nav2_params.yaml
docking_server.controller.footprint_topic"/local_costmap/published_footprint"stringnav2_bringup/params/nav2_params.yaml
docking_server.controller.projection_time5.0numbernav2_bringup/params/nav2_params.yaml
docking_server.controller.simulation_step0.1numbernav2_bringup/params/nav2_params.yaml
docking_server.controller.transform_tolerance0.1numbernav2_bringup/params/nav2_params.yaml
docking_server.controller.use_collision_detectiontrueboolnav2_bringup/params/nav2_params.yaml

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Nav2 update (Nov 21): new docking_server/controller/dock_collision_threshold = 0.3 - new docking_server/controller/transform_tolerance = 0.1 - new flag docking_server/controller/use_collision_detection (ON by default) - new docking_server/controller/projection_time = 5.0

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Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/90a6c8d.html Commit: https://github.com/ros-navigation/navigation2/commit/90a6c8d80096469a22e1a56e5447d58fb8e66ef6 Values are repo defaults from the params files.

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Modules touched

ModuleAddedModifiedRemovedLines +Lines −
nav2_bringup010+7−0

Watched files (1)

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Mnav2_bringup/params/nav2_params.yaml+7/−0

Commit message

Added collision detection for docking (#4752)

* Added collision detection for docking

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Minor fixes

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Improve collision  while undocking and test

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Fix smoke testing

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Rename dock_collision_threshold

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Added docs and params

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Minor changes in README

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

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Signed-off-by: Alberto Tudela <ajtudela@gmail.com>