From 92cddf5a545b93ad8eea833ccf679d7c17f9655f Mon Sep 17 00:00:00 2001 From: moooeeeep Date: Mon, 14 Feb 2022 11:55:31 +0100 Subject: [PATCH 1/2] Clarification to `robot_model_type` for users of galactic and earlier Added note about breaking change in AMCL motion model selection parameter --- configuration/packages/configuring-amcl.rst | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/configuration/packages/configuring-amcl.rst b/configuration/packages/configuring-amcl.rst index bcb575e77e..96e152f214 100644 --- a/configuration/packages/configuring-amcl.rst +++ b/configuration/packages/configuring-amcl.rst @@ -319,7 +319,10 @@ Parameters ============== ============================= Description - The fully-qualified type of the plugin class. Options are nav2_amcl::DifferentialMotionModel and nav2_amcl::OmniMotionModel. + The fully-qualified type of the plugin class. Options are "nav2_amcl::DifferentialMotionModel" and "nav2_amcl::OmniMotionModel". Users can also provide their own custom motion model plugin type. + + Note for users of galactic and earlier + The above options are only available for users of a source build or the rolling release. Up until the galactic release only two models are selectable by string key (valid options: "differential", "omnidirectional"). :save_pose_rate: From 07099fcc06274ab954c30a9034ed5960c88b1c62 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Mon, 14 Feb 2022 10:23:19 -0800 Subject: [PATCH 2/2] Update configuration/packages/configuring-amcl.rst --- configuration/packages/configuring-amcl.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configuration/packages/configuring-amcl.rst b/configuration/packages/configuring-amcl.rst index 96e152f214..67be6ea4e3 100644 --- a/configuration/packages/configuring-amcl.rst +++ b/configuration/packages/configuring-amcl.rst @@ -322,7 +322,7 @@ Parameters The fully-qualified type of the plugin class. Options are "nav2_amcl::DifferentialMotionModel" and "nav2_amcl::OmniMotionModel". Users can also provide their own custom motion model plugin type. Note for users of galactic and earlier - The above options are only available for users of a source build or the rolling release. Up until the galactic release only two models are selectable by string key (valid options: "differential", "omnidirectional"). + The models are selectable by string key (valid options: "differential", "omnidirectional") rather than plugins. :save_pose_rate: