Add docs for #3825

configuration/packages/collision_monitor/configuring-collision-detector-node.rst

@@ -204,7 +204,16 @@ Polygons parameters
   Description:
     Topic name to publish a polygon to. Used only if ``visualize`` is true.
 
+:``<source name>``.enabled:
 
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  bool           True
+  ============== =============================
+
+  Description:
+    Whether to use this source for collision detection. (Can be dynamically set)
 
 Observation sources parameters
 ==============================
@@ -266,6 +275,16 @@ Observation sources parameters
   Description:
     Angle increment (in radians) between nearby obstacle points at the range arc. Two outermost points from the field of view are not taken into account (they will always exist regardless of this value). Applicable for ``range`` type.
 
+:``<source name>``.enabled:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  bool           True
+  ============== =============================
+
+  Description:
+    Whether to use this source for collision detection. (Can be dynamically set)
 
 Example
 *******
@@ -293,9 +312,11 @@ Here is an example of configuration YAML for the Collision Detector.
         scan:
           type: "scan"
           topic: "scan"
+          enabled: True
         pointcloud:
           type: "pointcloud"
           topic: "/intel_realsense_r200_depth/points"
           min_height: 0.1
           max_height: 0.5
+          enabled: True
 

configuration/packages/collision_monitor/configuring-collision-monitor-node.rst

@@ -342,7 +342,16 @@ Polygons parameters
   Description:
     Topic name to publish a polygon to. Used only if ``visualize`` is true.
 
+:``<polygon_name name>``.enabled:
 
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  bool           True
+  ============== =============================
+
+  Description:
+    Whether to use this polygon for collision monitoring. (Can be dynamically set)
 
 Observation sources parameters
 ==============================
@@ -404,6 +413,17 @@ Observation sources parameters
   Description:
     Angle increment (in radians) between nearby obstacle points at the range arc. Two outermost points from the field of view are not taken into account (they will always exist regardless of this value). Applicable for ``range`` type.
 
+:``<source name>``.enabled:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  bool           True
+  ============== =============================
+
+  Description:
+    Whether to use this source for collision monitoring. (Can be dynamically set)
+
 
 Example
 *******
@@ -431,6 +451,7 @@ Here is an example of configuration YAML for the Collision Monitor.
           min_points: 4  # max_points: 3 for Humble
           visualize: True
           polygon_pub_topic: "polygon_stop"
+          enabled: True
         PolygonSlow:
           type: "polygon"
           points: [1.0, 1.0, 1.0, -1.0, -0.5, -1.0, -0.5, 1.0]
@@ -439,6 +460,7 @@ Here is an example of configuration YAML for the Collision Monitor.
           slowdown_ratio: 0.3
           visualize: True
           polygon_pub_topic: "polygon_slowdown"
+          enabled: True
         PolygonLimit:
           type: "polygon"
           points: [0.5, 0.5, 0.5, -0.5, -0.5, -0.5, -0.5, 0.5]
@@ -448,6 +470,7 @@ Here is an example of configuration YAML for the Collision Monitor.
           angular_limit: 0.5
           visualize: True
           polygon_pub_topic: "polygon_limit"
+          enabled: True
         FootprintApproach:
           type: "polygon"
           action_type: "approach"
@@ -456,12 +479,15 @@ Here is an example of configuration YAML for the Collision Monitor.
           simulation_time_step: 0.02
           min_points: 6  # max_points: 5 for Humble
           visualize: False
+          enabled: True
         observation_sources: ["scan", "pointcloud"]
         scan:
           type: "scan"
           topic: "/scan"
+          enabled: True
         pointcloud:
           type: "pointcloud"
           topic: "/intel_realsense_r200_depth/points"
           min_height: 0.1
           max_height: 0.5
+          enabled: True

migration/Iron.rst

@@ -84,6 +84,11 @@ New node in nav2_collision_monitor: Collision Detector
 In this `PR #3693 <https://github.com/ros-planning/navigation2/pull/3500>`_ A new node was introduced in the nav2_collision_monitor: Collision Detector. 
 It works similarly to the Collision Monitor, but does not affect the robot's velocity. It will only inform that data from the configured sources has been detected within the configured polygons via message to the ``collision_detector_state`` topic that might be used by any external module (e.g. switching LED or sound alarm in case of collision).
 
+Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector
+****************************************************************************
+
+In this `PR #3825 <https://github.com/ros-planning/navigation2/pull/3825>`_ we added the ability to dynamically enable/disable sources and polygons in the Collision Monitor/Detector.
+
 Expose action server's result timeout
 *************************************