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Option allowing to consider or ignore time shifts #388

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Merged
SteveMacenski merged 2 commits into from
Feb 16, 2023
Merged

Option allowing to consider or ignore time shifts #388

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Option allowing to consider or ignore time shifts
AlexeyMerzlyakov Feb 16, 2023
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Update configuration/packages/configuring-collision-monitor.rst
SteveMacenski Feb 16, 2023
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12 changes: 12 additions & 0 deletions configuration/packages/configuring-collision-monitor.rst
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Expand Up @@ -113,6 +113,17 @@ Parameters
Description:
Maximum time interval in which source data is considered as valid.

:base_shift_correction:

============== =============================
Type Default
-------------- -----------------------------
bool True
============== =============================

Description:
Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time. If enabled, produces more accurate sources positioning in the robot base frame, at the cost of slower performance. This will cause average delays for ``~1/(2*odom_rate)`` per each ``cmd_vel`` calculation cycle. However, disabling of this option for better performance is highly not recommended for the fast moving robots, where during the typical for data sources update time, robot could move unacceptably far.
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:stop_pub_timeout:

============== =============================
Expand Down Expand Up @@ -363,6 +374,7 @@ For more information how to bring-up your own Collision Monitor node, please ref
cmd_vel_out_topic: "cmd_vel"
transform_tolerance: 0.5
source_timeout: 5.0
base_shift_correction: True
stop_pub_timeout: 2.0
polygons: ["PolygonStop", "PolygonSlow", "FootprintApproach"]
PolygonStop:
Expand Down