diff --git a/configuration/packages/configuring-thetastar.rst b/configuration/packages/configuring-thetastar.rst index 59c6a5498f..b1c2219fd4 100644 --- a/configuration/packages/configuring-thetastar.rst +++ b/configuration/packages/configuring-thetastar.rst @@ -81,6 +81,17 @@ The parameters of the planner are: Description Whether to allow planning in unknown space. +:````.terminal_checking_interval: + + ==== ======= + Type Default + ---- ------- + int 5000 + ==== ======= + + Description + Number of iterations between checking if the goal has been cancelled or planner timed out + .. Note:: Do go through the README file available on this repo's link to develop a better understanding of how you could tune this planner. This planner requires you to tune the `cost_scaling_factor` parameter of your costmap too, to get good results. diff --git a/configuration/packages/smac/configuring-smac-2d.rst b/configuration/packages/smac/configuring-smac-2d.rst index c98d12f6d3..f14a28c85e 100644 --- a/configuration/packages/smac/configuring-smac-2d.rst +++ b/configuration/packages/smac/configuring-smac-2d.rst @@ -81,6 +81,17 @@ Parameters Description Maximum number of iterations after the search is within ``tolerance`` before returning approximate path with best heuristic if exact path is not found. +:````.terminal_checking_interval: + + ==== ======= + Type Default + ---- ------- + int 5000 + ==== ======= + + Description + Number of iterations between checking if the goal has been cancelled or planner timed out + :````.max_planning_time: ====== ======= diff --git a/configuration/packages/smac/configuring-smac-hybrid.rst b/configuration/packages/smac/configuring-smac-hybrid.rst index 74fbad0df1..14ff036da5 100644 --- a/configuration/packages/smac/configuring-smac-hybrid.rst +++ b/configuration/packages/smac/configuring-smac-hybrid.rst @@ -81,6 +81,17 @@ Parameters Description Maximum number of iterations once a visited node is within the goal tolerances to continue to try to find an exact match before returning the best path solution within tolerances. Negative values convert to infinite. +:````.terminal_checking_interval: + + ==== ======= + Type Default + ---- ------- + int 5000 + ==== ======= + + Description + Number of iterations between checking if the goal has been cancelled or planner timed out + :````.max_planning_time: ====== ======= diff --git a/configuration/packages/smac/configuring-smac-lattice.rst b/configuration/packages/smac/configuring-smac-lattice.rst index 6333747b4f..b195a9cb35 100644 --- a/configuration/packages/smac/configuring-smac-lattice.rst +++ b/configuration/packages/smac/configuring-smac-lattice.rst @@ -63,6 +63,17 @@ Parameters Description Maximum number of iterations once a visited node is within the goal tolerances to continue to try to find an exact match before returning the best path solution within tolerances. +:````.terminal_checking_interval: + + ==== ======= + Type Default + ---- ------- + int 5000 + ==== ======= + + Description + Number of iterations between checking if the goal has been cancelled or planner timed out + :````.max_planning_time: ====== ======= diff --git a/migration/Iron.rst b/migration/Iron.rst index 9354fa0187..287c2f1142 100644 --- a/migration/Iron.rst +++ b/migration/Iron.rst @@ -254,3 +254,19 @@ In the GIF, it can be seen that there are two controller_ids namely, `FollowPath In this case, the `FollowPath` is the default controller_id. The difference between the two controller_ids is that HighSpeedFollowPath has a higher max velocity compared to the FollowPath. This difference can be well noted in the GIF. .. attention:: If a server is unavailable, then the combo box or the drop down list of the particular component will be empty. + +Cancel Checker Interface For GlobalPlanner +******************************************* +`PR #4148 `_ introduces a new interface for the ``GlobalPlanner`` to allow for the cancellation of the current planning task. +Before the planners would continue to plan even if the goal was cancelled, now they can check it and stop planning if the goal is cancelled. +New interface for ``GlobalPlanner::createPlan``: + +.. code-block:: cpp + + virtual nav_msgs::msg::Path createPlan( + const geometry_msgs::msg::PoseStamped & start, + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) + +This is implemented for all the planners in the stack, you can check them for the example use of ``cancel_checker`` function (simply check ``cancel_checker()``). +Smac and Theta* planners have a new parameter ``terminal_checking_interval`` which is the frequency of the cancel or timeout checking in terms of number of iterations.