diff --git a/configuration/packages/configuring-amcl.rst b/configuration/packages/configuring-amcl.rst index ff6105b7db..f3712356b6 100644 --- a/configuration/packages/configuring-amcl.rst +++ b/configuration/packages/configuring-amcl.rst @@ -368,6 +368,17 @@ Parameters Description Time with which to post-date the transform that is published, to indicate that this transform is valid into the future. +:service_introspection_mode: + + ============== ============================= + Type Default + -------------- ----------------------------- + string "disabled" + ============== ============================= + + Description + The introspection mode for services. Options are "disabled", "metadata", "contents". + :update_min_a: ============== ============================= @@ -501,6 +512,7 @@ Example alpha4: 0.2 alpha5: 0.2 base_frame_id: "base_footprint" + service_introspection_mode: "disabled" beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 beam_skip_threshold: 0.3 diff --git a/configuration/packages/configuring-bt-navigator.rst b/configuration/packages/configuring-bt-navigator.rst index 5cddf96aba..52b8f3a204 100644 --- a/configuration/packages/configuring-bt-navigator.rst +++ b/configuration/packages/configuring-bt-navigator.rst @@ -139,6 +139,17 @@ 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 +:service_introspection_mode: + + ============== ============================= + Type Default + -------------- ----------------------------- + string "disabled" + ============== ============================= + + Description + The introspection mode for services. Options are "disabled", "metadata", "contents". + :transform_tolerance: ====== ======= ======= @@ -282,6 +293,7 @@ Example robot_base_frame: base_link transform_tolerance: 0.1 filter_duration: 0.3 + service_intropection_mode: "disabled" default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml always_reload_bt_xml: false diff --git a/configuration/packages/configuring-costmaps.rst b/configuration/packages/configuring-costmaps.rst index 087b0aec00..901f5fbb60 100644 --- a/configuration/packages/configuring-costmaps.rst +++ b/configuration/packages/configuring-costmaps.rst @@ -24,6 +24,17 @@ Costmap2D ROS Parameters Description Whether to send full costmap every update, rather than updates. +:service_introspection_mode: + + ============== ============================= + Type Default + -------------- ----------------------------- + string "disabled" + ============== ============================= + + Description + The introspection mode for services. Options are "disabled", "metadata", "contents". + :footprint_padding: ============== ======= @@ -435,6 +446,7 @@ Example inflate_unknown: false inflate_around_unknown: true always_send_full_costmap: True + service_introspection_mode: "disabled" local_costmap: @@ -449,3 +461,4 @@ Example width: 3 height: 3 resolution: 0.05 + service_introspection_mode: "disabled" diff --git a/configuration/packages/configuring-docking-server.rst b/configuration/packages/configuring-docking-server.rst index 37b13dc507..4be6d0d5b8 100644 --- a/configuration/packages/configuring-docking-server.rst +++ b/configuration/packages/configuring-docking-server.rst @@ -184,6 +184,17 @@ Parameters Description BT XML to use for Navigator, if non-default. +:service_introspection_mode: + + ============== ============================= + Type Default + -------------- ----------------------------- + string "disabled" + ============== ============================= + + Description + The introspection mode for services. Options are "disabled", "metadata", "contents". + :controller.k_phi: ============== ============== @@ -563,6 +574,7 @@ Example fixed_frame: "odom" dock_backwards: false dock_prestaging_tolerance: 0.5 + service_introspection_mode: "disabled" # Types of docks dock_plugins: ['nova_carter_dock'] diff --git a/configuration/packages/configuring-lifecycle.rst b/configuration/packages/configuring-lifecycle.rst index 23afd5b6fd..47767caeff 100644 --- a/configuration/packages/configuring-lifecycle.rst +++ b/configuration/packages/configuring-lifecycle.rst @@ -70,6 +70,17 @@ Parameters Description When a server crashes or becomes non-responsive, the lifecycle manager will bring down all nodes for safety. This is the duration of which the lifecycle manager will attempt to reconnect with the failed server(s) during to recover and re-activate the system. If this passes, it will stop attempts and will require a manual re-activation once the problem is manually resolved. Units: seconds. +:service_introspection_mode: + + ============== ============================= + Type Default + -------------- ----------------------------- + string "disabled" + ============== ============================= + + Description + The introspection mode for services. Options are "disabled", "metadata", "contents". + Example ******* .. code-block:: yaml @@ -81,3 +92,4 @@ Example bond_timeout: 4.0 attempt_respawn_reconnection: true bond_respawn_max_duration: 10.0 + service_introspection_mode: "disabled" diff --git a/configuration/packages/configuring-map-server.rst b/configuration/packages/configuring-map-server.rst index daaa722366..be97e013f2 100644 --- a/configuration/packages/configuring-map-server.rst +++ b/configuration/packages/configuring-map-server.rst @@ -46,6 +46,17 @@ Map Saver Parameters Description Occupied space minimum probability threshold value for occupancy grid. +:service_introspection_mode: + + ============== ============================= + Type Default + -------------- ----------------------------- + string "disabled" + ============== ============================= + + Description + The introspection mode for services. Options are "disabled", "metadata", "contents". + Map Server Parameters ********************* @@ -82,6 +93,17 @@ Map Server Parameters Description Frame to publish loaded map in. +:service_introspection_mode: + + ============== ============================= + Type Default + -------------- ----------------------------- + string "disabled" + ============== ============================= + + Description + The introspection mode for services. Options are "disabled", "metadata", "contents". + Costmap Filter Info Server Parameters ************************************* @@ -167,12 +189,14 @@ Example yaml_filename: "turtlebot3_world.yaml" topic_name: "map" frame_id: "map" + service_introspection_mode: "disabled" map_saver: ros__parameters: save_map_timeout: 5.0 free_thresh_default: 0.25 occupied_thresh_default: 0.65 + service_introspection_mode: "disabled" costmap_filter_info_server: ros__parameters: diff --git a/configuration/packages/configuring-planner-server.rst b/configuration/packages/configuring-planner-server.rst index efd101abf1..5ffbb84b68 100644 --- a/configuration/packages/configuring-planner-server.rst +++ b/configuration/packages/configuring-planner-server.rst @@ -85,6 +85,16 @@ Parameters Description The timeout value (seconds) for the costmap to be fully updated before a planning request. +:service_introspection_mode: + + ============== ============================= + Type Default + -------------- ----------------------------- + string "disabled" + ============== ============================= + + Description + The introspection mode for services. Options are "disabled", "metadata", "contents". Default Plugins *************** @@ -105,6 +115,7 @@ Example ros__parameters: expected_planner_frequency: 20.0 costmap_update_timeout: 1.0 + service_introspection_mode: "disabled" planner_plugins: ['GridBased'] GridBased: plugin: 'nav2_navfn_planner::NavfnPlanner' # In Iron and older versions, "/" was used instead of "::" diff --git a/configuration/packages/configuring-waypoint-follower.rst b/configuration/packages/configuring-waypoint-follower.rst index 29ec8a77bc..e93d6437fb 100644 --- a/configuration/packages/configuring-waypoint-follower.rst +++ b/configuration/packages/configuring-waypoint-follower.rst @@ -49,6 +49,17 @@ Parameters The name of the global coordinate frame published by robot_localization. Only used by the gps_waypoint_follower to convert GPS waypoints to this frame. +:service_introspection_mode: + + ============== ============================= + Type Default + -------------- ----------------------------- + string "disabled" + ============== ============================= + + Description + The introspection mode for services. Options are "disabled", "metadata", "contents". + :action_server_result_timeout: ====== ======= ======= @@ -131,6 +142,7 @@ Example loop_rate: 20 stop_on_failure: false waypoint_task_executor_plugin: "wait_at_waypoint" + service_introspection_mode: "disabled" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" enabled: True diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index 7e96740489..10d32b23c2 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -363,6 +363,15 @@ Default value: - 253 +Service introspection +********************* + +In `PR #4955 `_ the parameter ``service_introspection_mode`` was introduced to the `Nav2` stack to allow introspection of services. The options are "disabled", "metadata", "contents". + +Default value: + +- "disabled" + Rotation Shim Using Path Orientations *************************************