Added doc for collision detection for docking

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.
+
 
 Note: ``dock_plugins`` and either ``docks`` or ``dock_database`` are required.
 

migration/Jazzy.rst

@@ -99,3 +99,12 @@ In `PR #4675 <https://github.com/ros-navigation/navigation2/pull/4675>`_ a ``pub
 Default value:
 
 - true
+
+Added optional collision checking for the Docking Server
+********************************************************
+
+In `PR #4752 <https://github.com/ros-navigation/navigation2/pull/4752>`_ an optional collision checking feature was added to the `Docking server </configuration/packages/configuring-docking-server.html#docking-server>`_ to check for collisions between the robot and the dock.
+
+Default value:
+
+- true