From 576f36e0b29cc69556295f81f9932c9e24a6397b Mon Sep 17 00:00:00 2001 From: Alberto Tudela Date: Thu, 21 Nov 2024 20:19:46 +0100 Subject: [PATCH] Added doc for collision detection for docking (#610) * Added doc for collision detection for docking Signed-off-by: Alberto Tudela * Update configuration/packages/configuring-docking-server.rst Co-authored-by: Steve Macenski Signed-off-by: Alberto Tudela --------- Signed-off-by: Alberto Tudela Co-authored-by: Steve Macenski --- .../packages/configuring-docking-server.rst | 77 +++++++++++++++++++ migration/Jazzy.rst | 9 +++ 2 files changed, 86 insertions(+) diff --git a/configuration/packages/configuring-docking-server.rst b/configuration/packages/configuring-docking-server.rst index 8708deb65..36415bb6c 100644 --- a/configuration/packages/configuring-docking-server.rst +++ b/configuration/packages/configuring-docking-server.rst @@ -272,6 +272,83 @@ Parameters Description Radius to end goal to commense slow down. +:controller.use_collision_detection: + + ============== ============== + Type Default + -------------- -------------- + bool true + ============== ============== + + Description + Whether to use collision detection to avoid obstacles. + +:controller.costmap_topic: + + ============== =========================== + Type Default + -------------- --------------------------- + string "local_costmap/costmap_raw" + ============== =========================== + + Description + Raw costmap topic for collision checking. + +:controller.footprint_topic: + + ============== =================================== + Type Default + -------------- ----------------------------------- + string "local_costmap/published_footprint" + ============== =================================== + + Description + Topic for footprint in the costmap frame. + +:controller.transform_tolerance: + + ============== ============================= + Type Default + -------------- ----------------------------- + double 0.1 + ============== ============================= + + Description + Time with which to post-date the transform that is published, to indicate that this transform is valid into the future. + +:controller.projection_time: + + ============== ============================= + Type Default + -------------- ----------------------------- + double 1.0 + ============== ============================= + + Description + Time to look ahead for collisions (s). + +:controller.simulation_time_step: + + ============== ============================= + Type Default + -------------- ----------------------------- + double 0.1 + ============== ============================= + + Description + Time step for projections (s). + +:controller.dock_collision_threshold: + + ============== ============================= + Type Default + -------------- ----------------------------- + double 0.3 + ============== ============================= + + Description + Distance (m) from the dock pose to ignore collisions, i.e. the robot will not check for collisions within this distance from the dock pose, as the robot will make contact with the dock. Set to ``0.0`` when physical contact is not made with a dock. + Note: ``dock_plugins`` and either ``docks`` or ``dock_database`` are required. diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index 978a3fa68..2feb2a59a 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -99,3 +99,12 @@ In `PR #4675 `_ a ``pub Default value: - true + +Added optional collision checking for the Docking Server +******************************************************** + +In `PR #4752 `_ an optional collision checking feature was added to the `Docking server `_ to check for collisions between the robot and the dock. + +Default value: + +- true \ No newline at end of file