From 82f10db01dbee0d0f9deaa86172206a4caed0359 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Fabian=20K=C3=B6nig?= Date: Thu, 12 Oct 2023 19:44:38 +0000 Subject: [PATCH 1/2] Update docu for PR #3866 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Fabian König --- configuration/packages/configuring-costmaps.rst | 11 +++++++++++ migration/Iron.rst | 8 +++++++- 2 files changed, 18 insertions(+), 1 deletion(-) diff --git a/configuration/packages/configuring-costmaps.rst b/configuration/packages/configuring-costmaps.rst index 567381fab2..0522fd6676 100644 --- a/configuration/packages/configuring-costmaps.rst +++ b/configuration/packages/configuring-costmaps.rst @@ -211,6 +211,17 @@ Costmap2D ROS Parameters Description TF transform tolerance. +:initial_transform_timeout: + + ============== ======= + Type Default + -------------- ------- + double 60.0 + ============== ======= + + Description + Time to wait for the transform from robot base frame to global frame to become available. + :trinary_costmap: ============== ======= diff --git a/migration/Iron.rst b/migration/Iron.rst index 04691138ce..72754a15de 100644 --- a/migration/Iron.rst +++ b/migration/Iron.rst @@ -111,4 +111,10 @@ The Simple Navigator API now allows multi-robot namespacing by exposing a ``name Change duration type in wait_action node **************************************** -In this `PR #3871 `_ the type of duration variable in wait_action node is changed from int to double, which allows you to use floating values for wait_action. \ No newline at end of file +In this `PR #3871 `_ the type of duration variable in wait_action node is changed from int to double, which allows you to use floating values for wait_action. + +The costmap activation fails when required transforms are not available +*********************************************************************** + +In this `PR #3866 `_ the parameter ``initial_transform_timeout`` is added to the costmap. The activation of the costmap now fails, +if the transformation from the robot base frame to the global frame does not become available during this timeout. \ No newline at end of file From b9d423a082ac67b9dc4e6560833445bbfcb58a2f Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 12 Oct 2023 13:21:15 -0700 Subject: [PATCH 2/2] Update configuration/packages/configuring-costmaps.rst --- configuration/packages/configuring-costmaps.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configuration/packages/configuring-costmaps.rst b/configuration/packages/configuring-costmaps.rst index 0522fd6676..c3d966f9cf 100644 --- a/configuration/packages/configuring-costmaps.rst +++ b/configuration/packages/configuring-costmaps.rst @@ -220,7 +220,7 @@ Costmap2D ROS Parameters ============== ======= Description - Time to wait for the transform from robot base frame to global frame to become available. + Time to wait for the transform from robot base frame to global frame to become available. If exceeded, the configuration stage is aborted. :trinary_costmap: