docs: Update collision monitor tutorial for holonomic robot

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

@@ -457,7 +457,10 @@ All previous Polygon parameters apply, in addition to the following unique param
     ============== =============================
 
     Description:
-      Minimum linear velocity for the sub polygon. In holonomic mode, this is the minimum resultant velocity. Causes an error, if not specified.
+      Minimum linear velocity for the sub-polygon. Causes an error, if not specified.
+
+      * **Non-holonomic:** This is the minimum signed velocity along the x-axis (allows negative values for reverse motion).
+      * **Holonomic:** This is the minimum magnitude of the resultant velocity, which must be ``>= 0.0``.
 
 :``<vel_poly>.<subpoly>``.linear_max:
 
@@ -468,7 +471,10 @@ All previous Polygon parameters apply, in addition to the following unique param
     ============== =============================
 
     Description:
-      Maximum linear velocity for the sub polygon. In holonomic mode, this is the maximum resultant velocity. Causes an error, if not specified.
+      Maximum linear velocity for the sub polygon. Causes an error, if not specified.
+
+      * **Non-holonomic:** This is the maximum signed velocity along the x-axis. (allows negative values for reverse motion).
+      * **Holonomic:** This is the maximum magnitude of the resultant velocity, which must be ``>= 0.0``.
 
 :``<vel_poly>.<subpoly>``.theta_min:
 
@@ -501,7 +507,7 @@ All previous Polygon parameters apply, in addition to the following unique param
     ============== =============================
 
     Description:
-      Start angle of the movement direction(for holomic robot only). Refer to the `Example`_ section for the common configurations. Applicable for `holonomic` mode only.
+      Start angle of the movement direction(for holonomic robot only). Refer to the `Example`_ section for the common configurations. Applicable for `holonomic` mode only.
 
 :``<vel_poly>.<subpoly>``.direction_end_angle:
 
@@ -512,7 +518,7 @@ All previous Polygon parameters apply, in addition to the following unique param
     ============== =============================
 
     Description:
-      End angle of the movement direction(for holomic robot only). Refer to the `Example`_ section for the common configurations. Applicable for `holonomic` mode only.
+      End angle of the movement direction(for holonomic robot only). Refer to the `Example`_ section for the common configurations. Applicable for `holonomic` mode only.
 
 Observation sources parameters
 ==============================

tutorials/docs/using_collision_monitor.rst

@@ -169,6 +169,8 @@ Below is the example configuration using 4 sub-polygons to cover the full range
         theta_min: -1.0
         theta_max: 1.0
 
+
+
 .. note::
   It is recommended to include a ``stopped`` sub polygon as the last entry in the ``velocity_polygons`` list to cover the entire range of the robot's velocity limits. In cases where the velocity is not within the scope of any sub polygons, the Collision Monitor will log a warning message and continue with the previously matched polygon.
 
@@ -177,7 +179,7 @@ Below is the example configuration using 4 sub-polygons to cover the full range
 
 **For holomic robots:**
 
-For holomic robots, the ``holonomic`` property should be set to ``true``. In this scenario, the ``linear_min`` and ``linear_max`` parameters should cover the robot's resultant velocity limits, while the ``theta_min`` and ``theta_max`` parameters should cover the robot's angular velocity limits. Additionally, there will be 2 more parameters, ``direction_start_angle`` and ``direction_end_angle``, to specify the resultant velocity direction. The covered direction will always span from ``direction_start_angle`` to ``direction_end_angle`` in the **counter-clockwise** direction.
+For holomic robots, the ``holonomic`` property should be set to ``true``. In this scenario, the ``linear_min`` and ``linear_max`` parameters should cover  the magnitude of the robot’s resultant velocity limits (using only non-negative values ``>=0.0``), while the ``theta_min`` and ``theta_max`` parameters should cover the robot's angular velocity limits. Additionally, there will be 2 more parameters, ``direction_start_angle`` and ``direction_end_angle``, to specify the resultant velocity direction. The covered direction will always span from ``direction_start_angle`` to ``direction_end_angle`` in the **counter-clockwise** direction.
 
 .. image:: images/Collision_Monitor/holonomic_direction.png
   :width: 365px
@@ -187,6 +189,143 @@ Below shows some common configurations for holonomic robots that cover multiple
 .. image:: images/Collision_Monitor/holonomic_examples.png
   :height: 2880px
 
+.. code-block:: yaml
+
+  collision_monitor:
+    ros__parameters:
+      base_frame_id: "base_link"
+      odom_frame_id: "odom"
+      cmd_vel_in_topic: "cmd_vel_smoothed"
+      cmd_vel_out_topic: "nav_vel"
+      state_topic: "collision_monitor_state"
+      transform_tolerance: 0.3
+      source_timeout: 1.0
+      base_shift_correction: True
+      stop_pub_timeout: 20000.0
+      holonomic: true
+
+      polygons: ["VelocityPolygonSlow", "VelocityPolygonStop"]
+
+      # ==========================================
+      # 1. Slowdown Polygon
+      # ==========================================
+      VelocityPolygonSlow:
+        type: "velocity_polygon"
+        action_type: "slowdown"
+        slowdown_ratio: 0.5
+        holonomic: true
+        visualize: True
+        enabled: True
+        velocity_polygons: [
+          "forward", "forward_left", "left", "backward_left",
+          "backward", "backward_right", "right", "forward_right",
+          "stopped"
+        ]
+
+        forward:
+          points: "[[0.6, 0.4], [0.6, -0.4], [-0.3, -0.4], [-0.3, 0.4]]"
+          linear_min: 0.05
+          linear_max: 1.0
+          direction_start_angle: -0.39
+          direction_end_angle: 0.39
+          theta_min: -1.0
+          theta_max: 1.0
+
+        forward_left:
+          points: "[[0.55, 0.55], [0.55, -0.3], [-0.3, -0.3], [-0.3, 0.55]]"
+          linear_min: 0.05
+          linear_max: 1.0
+          direction_start_angle: 0.39
+          direction_end_angle: 1.18
+          theta_min: -1.0
+          theta_max: 1.0
+
+        left:
+          points: "[[0.4, 0.6], [0.4, -0.4], [-0.4, -0.4], [-0.4, 0.6]]"
+          linear_min: 0.05
+          linear_max: 1.0
+          direction_start_angle: 1.18
+          direction_end_angle: 1.96
+          theta_min: -1.0
+          theta_max: 1.0
+
+        backward_left:
+          points: "[[0.3, 0.55], [0.3, -0.3], [-0.55, -0.3], [-0.55, 0.55]]"
+          linear_min: 0.05
+          linear_max: 1.0
+          direction_start_angle: 1.96
+          direction_end_angle: 2.75
+          theta_min: -1.0
+          theta_max: 1.0
+
+        backward:
+          points: "[[0.3, 0.4], [0.3, -0.4], [-0.6, -0.4], [-0.6, 0.4]]"
+          linear_min: 0.05
+          linear_max: 1.0
+          direction_start_angle: 2.75
+          direction_end_angle: -2.75
+          theta_min: -1.0
+          theta_max: 1.0
+
+        backward_right:
+          points: "[[0.3, 0.3], [0.3, -0.55], [-0.55, -0.55], [-0.55, 0.3]]"
+          linear_min: 0.05
+          linear_max: 1.0
+          direction_start_angle: -2.75
+          direction_end_angle: -1.96
+          theta_min: -1.0
+          theta_max: 1.0
+
+        right:
+          points: "[[0.4, 0.4], [0.4, -0.6], [-0.4, -0.6], [-0.4, 0.4]]"
+          linear_min: 0.05
+          linear_max: 1.0
+          direction_start_angle: -1.96
+          direction_end_angle: -1.18
+          theta_min: -1.0
+          theta_max: 1.0
+
+        forward_right:
+          points: "[[0.55, 0.3], [0.55, -0.55], [-0.3, -0.55], [-0.3, 0.3]]"
+          linear_min: 0.05
+          linear_max: 1.0
+          direction_start_angle: -1.18
+          direction_end_angle: -0.39
+          theta_min: -1.0
+          theta_max: 1.0
+
+        stopped:
+          points: "[[0.4, 0.4], [0.4, -0.4], [-0.4, -0.4], [-0.4, 0.4]]"
+          linear_min: 0.0
+          linear_max: 0.05
+          direction_start_angle: -3.1415
+          direction_end_angle: 3.1415
+          theta_min: -1.0
+          theta_max: 1.0
+
+      # ==========================================
+      # 2. Stop Polygon
+      # ==========================================
+      VelocityPolygonStop:
+        type: "velocity_polygon"
+        action_type: "stop"
+        holonomic: true
+        visualize: True
+        enabled: True
+        velocity_polygons: ["moving_stop", "stopped"]
+        moving_stop:
+          points: "[[0.35, 0.35], [0.35, -0.35], [-0.35, -0.35], [-0.35, 0.35]]"
+          linear_min: 0.05
+          linear_max: 1.0
+          theta_min: -1.0
+          theta_max: 1.0
+        stopped:
+          points: "[[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, 0.3]]"
+          linear_min: 0.0
+          linear_max: 0.05
+          theta_min: -1.0
+          theta_max: 1.0
+
 Preparing Nav2 stack
 ====================