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Update docu for PR #3866 #477

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Merged
SteveMacenski merged 2 commits into from
Oct 12, 2023
Merged

Update docu for PR #3866 #477

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82f10db
Update docu for PR #3866
kfabian Oct 12, 2023
b9d423a
Update configuration/packages/configuring-costmaps.rst
SteveMacenski Oct 12, 2023
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11 changes: 11 additions & 0 deletions configuration/packages/configuring-costmaps.rst
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Expand Up @@ -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. If exceeded, the configuration stage is aborted.

:trinary_costmap:

============== =======
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8 changes: 7 additions & 1 deletion migration/Iron.rst
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Expand Up @@ -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 <https://github.com/ros-planning/navigation2/pull/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.
In this `PR #3871 <https://github.com/ros-planning/navigation2/pull/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 <https://github.com/ros-planning/navigation2/pull/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.