adding savitzky-golay docs

configuration/index.rst

@@ -9,7 +9,6 @@ the best navigation performance.
 .. toctree::
    :maxdepth: 1
 
-   packages/configuring-waypoint-follower.rst
    packages/configuring-bt-navigator.rst
    packages/configuring-bt-xml.rst
    packages/configuring-costmaps.rst
@@ -20,13 +19,15 @@ the best navigation performance.
    packages/configuring-thetastar.rst
    packages/configuring-controller-server.rst
    packages/configuring-dwb-controller.rst
+   packages/configuring-regulated-pp.rst
+   packages/configuring-rotation-shim-controller.rst
    packages/configuring-map-server.rst
    packages/configuring-amcl.rst
    packages/configuring-behavior-server.rst
    packages/configuring-smoother-server.rst
    packages/configuring-simple-smoother.rst
-   packages/configuring-regulated-pp.rst
-   packages/configuring-rotation-shim-controller.rst
+   packages/configuring-savitzky-golay-smoother.rst
    packages/configuring-constrained-smoother.rst
    packages/configuring-velocity-smoother.rst
    packages/configuring-collision-monitor.rst
+   packages/configuring-waypoint-follower.rst

configuration/packages/configuring-savitzky-golay-smoother.rst

@@ -0,0 +1,58 @@
+.. _configuring_savitzky_golay_filter_smoother:
+
+Savitzky-Golay Smoother
+#######################
+
+Source code on Github_.
+
+.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_smoother
+
+The Savitzky-Golay Smoother is a Smoother Server plugin that will take in an input path and smooth it using a simple and fast smoothing technique based on `Savitzky Golay Filters <https://en.wikipedia.org/wiki/Savitzky%E2%80%93Golay_filter>`_. It uses a digital signal processing technique designed to reduce noise distorting a reference signal, in this case, a path.
+
+It is useful for all types of planners, but particularly in NavFn to remove tiny artifacts that can occur near the end of paths or Theta* to slightly soften the transition between Line of Sight line segments **without** modifying the primary path. It is very fast (<< 1ms) so is a recommended default for planners that may result in slight discontinuities. However, it will not smooth out larger scale discontinuities, oscillations, or improve smoothness. For those, use one of the other provided smoother plugins. It also provides estimated orientation vectors of the path points after smoothing.
+
+This algorithm is deterministic and low-parameter. In the below image, some odd points from NavFn's gradient descent are smoothed out by the smoother in the middle and end of a given path, while otherwise retaining the exact character of the path.
+
+.. image:: images/savitzky-golay-example.png
+    :align: center
+
+Savitzky-Golay Smoother Parameters
+**********************************
+
+:do_refinement:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  bool           True   
+  ============== ===========================
+
+  Description
+    Whether to smooth the smoothed results ``refinement_num`` times to get an improved result.
+
+:refinement_num:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  int            2   
+  ============== ===========================
+
+  Description
+    Number of times to recursively smooth a segment
+
+Example
+*******
+.. code-block:: yaml
+
+    smoother_server:
+      ros__parameters:
+        costmap_topic: global_costmap/costmap_raw
+        footprint_topic: global_costmap/published_footprint
+        robot_base_frame: base_link
+        transform_timeout: 0.1
+        smoother_plugins: ["savitzky_golay_smoother"]
+        savitzky_golay_smoother:
+          plugin: "nav2_smoother::SavitzkyGolaySmoother"
+          do_refinement: True
+          refinement_num: 2

migration/Humble.rst

@@ -67,3 +67,8 @@ Costmap Filters
 Costmap Filters now are have an ability to be enabled/disabled in run-time by calling ``toggle_filter`` service for appropriate filter (`PR #3229 <https://github.com/ros-planning/navigation2/pull/3229>`_).
 
 Added new binary flip filter, allowing e.g. to turn off camera in sensitive areas, turn on headlights/leds/other safety things or switch operating mode when robot is inside marked on mask areas (`PR #3228 <https://github.com/ros-planning/navigation2/pull/3228>`_).
+
+Savitzky-Golay Smoother
+***********************
+
+Adding a new smoother algorithm, the Savitzky-Golay smoother to the smoother server plugin list. See the configuration guide :ref:`configuring_savitzky_golay_filter_smoother` for more details.

plugins/index.rst

@@ -66,9 +66,13 @@ Costmap Filters
 | `Speed Filter`_    | Alexey Merzlyakov  | Limits maximum velocity of robot  |
 |                    |                    | in speed restriction areas        |
 +--------------------+--------------------+-----------------------------------+
+| `Binary Filter`_   | Alexey Merzlyakov  | Enables binary (boolean) mask     |
+|                    |                    | behavior to trigger actions.      |
++--------------------+--------------------+-----------------------------------+
 
 .. _Keepout Filter: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
 .. _Speed Filter: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp
+.. _Binary Filter: https://github.com/ros-planning/navigation2/tree/main/nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp
 
 Controllers
 ===========
@@ -166,9 +170,17 @@ Smoothers
 |                           |                                       | maintaining minimum turning  |
 |                           |                                       | radius                       |
 +---------------------------+---------------------------------------+------------------------------+
+|`Savitzky-Golay Smoother`_ |  Steve Macenski                       | A path smoother using a      |
+|                           |                                       | Savitzky-Golay filter        |
+|                           |                                       | to smooth the path via       |
+|                           |                                       | digital signal processing    |
+|                           |                                       | to remove noise from the     |
+|                           |                                       | path.                        |
++---------------------------+---------------------------------------+------------------------------+
 
 .. _Simple Smoother: https://github.com/ros-planning/navigation2/tree/main/nav2_smoother
 .. _Constrained Smoother: https://github.com/ros-planning/navigation2/tree/main/nav2_constrained_smoother
+.. _Savitzky-Golay Smoother: https://github.com/ros-planning/navigation2/tree/main/nav2_smoother
 
 Behaviors
 =========