From b358279dcf43efa93fcb495e786d0c5c0ac21e21 Mon Sep 17 00:00:00 2001 From: Lukas Fanta Date: Wed, 21 Sep 2022 10:24:47 +0200 Subject: [PATCH] Add parameter use_collision_detection to configuring-regulated-pp.rst --- .../packages/configuring-regulated-pp.rst | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/configuration/packages/configuring-regulated-pp.rst b/configuration/packages/configuring-regulated-pp.rst index 7e3b7a198..26c1a6f9d 100644 --- a/configuration/packages/configuring-regulated-pp.rst +++ b/configuration/packages/configuring-regulated-pp.rst @@ -129,6 +129,17 @@ Regulated Pure Pursuit Parameters Description The distance (m) left on the path at which to start slowing down. Should be less than the half the costmap width. +:use_collision_detection: + + ============== ============================= + Type Default + -------------- ----------------------------- + bool true + ============== ============================= + + Description + Whether to enable collision detection. + :max_allowed_time_to_collision_up_to_carrot: ============== ============================= @@ -138,7 +149,7 @@ Regulated Pure Pursuit Parameters ============== ============================= Description - The time (s) to project a velocity command forward to check for collisions. Pre-``Humble``, this was ``max_allowed_time_to_collision``. + The time (s) to project a velocity command forward to check for collisions when ``use_collision_detection`` is ``true``. Pre-``Humble``, this was ``max_allowed_time_to_collision``. :use_regulated_linear_velocity_scaling: @@ -290,6 +301,7 @@ Example use_velocity_scaled_lookahead_dist: false min_approach_linear_velocity: 0.05 approach_velocity_scaling_dist: 0.6 + use_collision_detection: true max_allowed_time_to_collision_up_to_carrot: 1.0 use_regulated_linear_velocity_scaling: true use_cost_regulated_linear_velocity_scaling: false