Docs for PR4342

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

@@ -296,6 +296,17 @@ Observation sources parameters
 
   Description:
     Maximum time interval in which source data is considered as valid. If no new data is received within this interval, an additional warning will be displayed. Setting ``source_timeout: 0.0`` disables it. Overrides node parameter for each source individually, if desired.
+
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
 
 Example
 *******

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

@@ -574,6 +574,16 @@ Observation sources parameters
   Description:
     Maximum time interval in which source data is considered as valid. If no new data is received within this interval, the robot will be stopped. Setting ``source_timeout: 0.0`` disables this blocking mechanism. Overrides node parameter for each source individually, if desired.
 
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
 
 Example
 *******

configuration/packages/configuring-amcl.rst

@@ -478,6 +478,16 @@ Parameters
   Description
     Allows AMCL to accept maps more than once on the map_topic. This is especially useful when you're using the `LoadMap` service in `map_server`. Prior to Humble, this is ``first_map_only_``.
 
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
 
 Example
 *******

configuration/packages/configuring-behavior-server.rst

@@ -297,6 +297,16 @@ DriveOnHeading distance, speed and time_allowance is given from the action reque
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
 
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
 
 AssistedTeleop Behavior Parameters
 **********************************

configuration/packages/configuring-bt-navigator.rst

@@ -228,6 +228,17 @@ Parameters
   Description
     List of of error codes to compare.
 
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
+
 Example
 *******
 .. code-block:: yaml

configuration/packages/configuring-controller-server.rst

@@ -205,6 +205,17 @@ Parameters
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
 
 Provided Plugins
 ****************

configuration/packages/configuring-map-server.rst

@@ -146,6 +146,17 @@ Costmap Filter Info Server Parameters
   Description
     Multiplier of ``OccupancyGrid`` mask value -> filter space value linear conversion which is being proceeded as:
     ``filter_space_value = base + multiplier * mask_value``
+
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
 
 Example
 *******

configuration/packages/configuring-planner-server.rst

@@ -63,6 +63,17 @@ Parameters
     15 minutes in rcl but was changed to 10 seconds in this `PR #1012 <https://github.com/ros2/rcl/pull/1012>`_, which may be less than
     some actions in Nav2 take to run. For most applications, this should not need to be adjusted as long as the actions within the server do not exceed this deadline. 
     This issue has been raised with OSRF to find another solution to avoid active goal timeouts for bookkeeping, so this is a semi-temporary workaround
+
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
 
 Default Plugins
 ***************

configuration/packages/configuring-smoother-server.rst

@@ -98,6 +98,17 @@ Smoother Server Parameters
               plugin: "nav2_smoother::SimpleSmoother"
 
     ..
+
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
 
 Example
 *******

configuration/packages/configuring-velocity-smoother.rst

@@ -160,6 +160,17 @@ Velocity Smoother Parameters
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
 
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
+
 
 Example
 *******

configuration/packages/configuring-waypoint-follower.rst

@@ -63,6 +63,17 @@ Parameters
     some actions in Nav2 take to run. For most applications, this should not need to be adjusted as long as the actions within the server do not exceed this deadline. 
     This issue has been raised with OSRF to find another solution to avoid active goal timeouts for bookkeeping, so this is a semi-temporary workaround
 
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
+
 :waypoint_task_executor_plugin:
 
   ============== ========================

migration/Iron.rst

@@ -347,3 +347,8 @@ Collision monitor: dynamic radius for circle type polygons
 Static Layer: new parameter ``footprint_clearing_enabled``
 **********************************************************
 `PR #4282 <https://github.com/ros-planning/navigation2/pull/4282>`_ introduces usage of parameter ``footprint_clearing_enabled`` for the static layer. It works similarly to the ``footprint_clearing_enabled`` parameter in the obstacle and voxel layer. If set to ``true``, the static layer will clear the costmap cells that are within the robot's footprint. It is ``false`` by default to keep the previous behavior.
+
+Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)
+**********************************************************************************************
+
+`PR #4342 <https://github.com/ros-planning/navigation2/pull/4342>`_ adds the parameter ``bond_heartbeat_period`` to the lifecycle nodes to customize the bond mechanism publishing period (on the ``/bond`` topic). Default value unchanged to 0.1s. Disabled if inferior or equal to 0.0.