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Add parameter use_collision_detection to configuring-regulated-pp.rst #346

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Merged
SteveMacenski merged 1 commit into from
Sep 21, 2022
Merged

Add parameter use_collision_detection to configuring-regulated-pp.rst #346

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14 changes: 13 additions & 1 deletion configuration/packages/configuring-regulated-pp.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -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:

============== =============================
Expand All @@ -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:

Expand Down Expand Up @@ -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
Expand Down