From c5c6c797e19383fdb1fb02fd560adad8fc775107 Mon Sep 17 00:00:00 2001 From: RBT22 Date: Tue, 20 Jun 2023 15:49:43 +0200 Subject: [PATCH 1/5] Add enum options to Obstacle Layer params --- configuration/packages/costmap-plugins/obstacle.rst | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/configuration/packages/costmap-plugins/obstacle.rst b/configuration/packages/costmap-plugins/obstacle.rst index f08b859918..3cf30c2cf7 100644 --- a/configuration/packages/costmap-plugins/obstacle.rst +++ b/configuration/packages/costmap-plugins/obstacle.rst @@ -49,7 +49,18 @@ Obstacle Layer Parameters ====== ======= Description - Enum for method to add data to master costmap, default to maximum. + Enum for method to add data to master costmap. Must be 0, 1 or 2, default to 1 (see below). + + | 0 - Overwrite: Overwrite master costmap with every valid observation. + + | 1 - Max: Sets the new value to the maximum of the master_grid's value and this layer's value. + | If the master value is NO_INFORMATION, it is overwritten. This is the default. + + | 2 - MaxWithoutUnknownOverwrite: Sets the new value to the maximum of the master_grid's + | value and this layer's value. If the master value is NO_INFORMATION, it is NOT overwritten. + | It can be used to make sure that the static map is the dominant source of information, and + | prevent the robot to go through places that are not present in the static map. + :````.observation_sources: From 343e932e55336d89198601e9c8a7a0526f924bcf Mon Sep 17 00:00:00 2001 From: RBT22 Date: Tue, 20 Jun 2023 16:00:13 +0200 Subject: [PATCH 2/5] Add enum options to Voxel Layer params --- configuration/packages/costmap-plugins/voxel.rst | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/configuration/packages/costmap-plugins/voxel.rst b/configuration/packages/costmap-plugins/voxel.rst index f6328a191a..51bdaa56d7 100644 --- a/configuration/packages/costmap-plugins/voxel.rst +++ b/configuration/packages/costmap-plugins/voxel.rst @@ -104,7 +104,17 @@ Voxel Layer Parameters ====== ======= Description - Enum for method to add data to master costmap, default to maximum. + Enum for method to add data to master costmap. Must be 0, 1 or 2, default to 1 (see below). + + | 0 - Overwrite: Overwrite master costmap with every valid observation. + + | 1 - Max: Sets the new value to the maximum of the master_grid's value and this layer's value. + | If the master value is NO_INFORMATION, it is overwritten. This is the default. + + | 2 - MaxWithoutUnknownOverwrite: Sets the new value to the maximum of the master_grid's + | value and this layer's value. If the master value is NO_INFORMATION, it is NOT overwritten. + | It can be used to make sure that the static map is the dominant source of information, and + | prevent the robot to go through places that are not present in the static map. :````.publish_voxel_map: From 257470a68a51b06daebe31638cc80ae50935c219 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 20 Jun 2023 11:28:22 -0700 Subject: [PATCH 3/5] Update configuration/packages/costmap-plugins/obstacle.rst --- configuration/packages/costmap-plugins/obstacle.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configuration/packages/costmap-plugins/obstacle.rst b/configuration/packages/costmap-plugins/obstacle.rst index 3cf30c2cf7..e9ad5d4601 100644 --- a/configuration/packages/costmap-plugins/obstacle.rst +++ b/configuration/packages/costmap-plugins/obstacle.rst @@ -54,7 +54,7 @@ Obstacle Layer Parameters | 0 - Overwrite: Overwrite master costmap with every valid observation. | 1 - Max: Sets the new value to the maximum of the master_grid's value and this layer's value. - | If the master value is NO_INFORMATION, it is overwritten. This is the default. + | This is the default. | 2 - MaxWithoutUnknownOverwrite: Sets the new value to the maximum of the master_grid's | value and this layer's value. If the master value is NO_INFORMATION, it is NOT overwritten. From 7dbdc28664383648ded8ae85aea722ded43d4090 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 20 Jun 2023 11:28:27 -0700 Subject: [PATCH 4/5] Update configuration/packages/costmap-plugins/voxel.rst --- configuration/packages/costmap-plugins/voxel.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configuration/packages/costmap-plugins/voxel.rst b/configuration/packages/costmap-plugins/voxel.rst index 51bdaa56d7..c5fbabffe9 100644 --- a/configuration/packages/costmap-plugins/voxel.rst +++ b/configuration/packages/costmap-plugins/voxel.rst @@ -109,7 +109,7 @@ Voxel Layer Parameters | 0 - Overwrite: Overwrite master costmap with every valid observation. | 1 - Max: Sets the new value to the maximum of the master_grid's value and this layer's value. - | If the master value is NO_INFORMATION, it is overwritten. This is the default. + | This is the default. | 2 - MaxWithoutUnknownOverwrite: Sets the new value to the maximum of the master_grid's | value and this layer's value. If the master value is NO_INFORMATION, it is NOT overwritten. From 8833a0d445e4d9f63434b3cad857a5e29e0b3584 Mon Sep 17 00:00:00 2001 From: RBT22 Date: Wed, 21 Jun 2023 09:11:28 +0200 Subject: [PATCH 5/5] Add migration guide --- migration/Iron.rst | 12 ++++++++++++ migration/index.rst | 1 + 2 files changed, 13 insertions(+) create mode 100644 migration/Iron.rst diff --git a/migration/Iron.rst b/migration/Iron.rst new file mode 100644 index 0000000000..f70fc0d4a2 --- /dev/null +++ b/migration/Iron.rst @@ -0,0 +1,12 @@ +.. _iron_migration: + +Iron to Jazzy +############## + +Moving from ROS 2 Iron to Jazzy, a number of stability improvements were added that we will not specifically address here. + +New option for the Voxel and Obstacle Layers +******************************************** +`PR #3612 `_ adds a new MaxWithoutUnknownOverwrite option to combination_method parameter in Voxel and Obstacle Layers. This can be used to make sure that the static map is the dominant source of information, and +easily prevent the robot to go through places that are not present in the static map. + diff --git a/migration/index.rst b/migration/index.rst index 2756e0b4a8..da3072f250 100644 --- a/migration/index.rst +++ b/migration/index.rst @@ -22,3 +22,4 @@ Navigation2 guides for migration between distributions. Foxy.rst Galactic.rst Humble.rst + Iron.rst