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Docs for 3880 #483

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Oct 31, 2023
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Docs for 3880 #483

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3ffa594
migration
Oct 31, 2023
84532c7
config guide
Oct 31, 2023
bd724ea
Update configuration/packages/collision_monitor/configuring-collision…
SteveMacenski Oct 31, 2023
88b9e57
Update configuration/packages/collision_monitor/configuring-collision…
SteveMacenski Oct 31, 2023
d08474a
Update migration/Iron.rst
SteveMacenski Oct 31, 2023
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14 changes: 13 additions & 1 deletion configuration/packages/collision_monitor/configuring-collision-detector-node.rst
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Expand Up @@ -75,7 +75,7 @@ Parameters
============== =============================

Description:
Maximum time interval in which source data is considered as valid.
Maximum time interval in which source data is considered as valid. If no new data is received within this interval, an additional warning will be displayed. Setting ``source_timeout: 0.0`` disables it. This parameter can be overriden per observation source.

:base_shift_correction:

Expand Down Expand Up @@ -285,6 +285,17 @@ Observation sources parameters

Description:
Whether to use this source for collision detection. (Can be dynamically set)

:``<source name>``.source_timeout:

============== =============================
Type Default
-------------- -----------------------------
double (node parameter ``source_timeout`` value)
============== =============================

Description:
Maximum time interval in which source data is considered as valid. If no new data is received within this interval, an additional warning will be displayed. Setting ``source_timeout: 0.0`` disables it. Overrides node parameter for each source individually, if desired.

Example
*******
Expand All @@ -310,6 +321,7 @@ Here is an example of configuration YAML for the Collision Detector.
polygon_pub_topic: "polygon_front"
observation_sources: ["scan"]
scan:
source_timeout: 0.2
type: "scan"
topic: "scan"
enabled: True
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14 changes: 13 additions & 1 deletion configuration/packages/collision_monitor/configuring-collision-monitor-node.rst
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Expand Up @@ -136,7 +136,7 @@ Parameters
============== =============================

Description:
Maximum time interval in which source data is considered as valid.
Maximum time interval in which source data is considered as valid. If no new data is received within this interval, the robot will be stopped. Setting ``source_timeout: 0.0`` disables this blocking mechanism. This parameter can be overriden per observation source.

:base_shift_correction:

Expand Down Expand Up @@ -423,6 +423,17 @@ Observation sources parameters

Description:
Whether to use this source for collision monitoring. (Can be dynamically set)

:``<source name>``.source_timeout:

============== =============================
Type Default
-------------- -----------------------------
double (node parameter ``source_timeout`` value)
============== =============================

Description:
Maximum time interval in which source data is considered as valid. If no new data is received within this interval, the robot will be stopped. Setting ``source_timeout: 0.0`` disables this blocking mechanism. Overrides node parameter for each source individually, if desired.


Example
Expand Down Expand Up @@ -482,6 +493,7 @@ Here is an example of configuration YAML for the Collision Monitor.
enabled: True
observation_sources: ["scan", "pointcloud"]
scan:
source_timeout: 0.2
type: "scan"
topic: "/scan"
enabled: True
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9 changes: 9 additions & 0 deletions migration/Iron.rst
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Expand Up @@ -134,3 +134,12 @@ Subtrees Obtain Shared Resources
********************************

`PR #3911 <https://github.com/ros-planning/navigation2/pull/3911>`_ gives all sub-trees in BT.CPP the same shared resources as the main tree (node, shared timeouts, etc).

Collision Monitor: added watchdog mechanism based on ``source_timeout`` parameter with default blocking behavior
****************************************************************************************************************

`PR #3880 <https://github.com/ros-planning/navigation2/pull/3880>`_ adds a watchdog mechanism that stops the robot if a source data is not published yet, or if no new data is received within the `source_timeout`` parameter, or if impossible to transform data to base frame. ``source_timeout`` parameter can now be set per source: if ``source_timeout`` is not set for a source, the value of the node ``source_timeout`` parameter is used.

Additionally, this watchdog mechanism can be disabled by setting ``source_timeout: 0.0``.