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tonynajjar merged 5 commits into from
Mar 1, 2022
Merged

test #1

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d62e0e0
Remove an extra parameter description (#276)
stu00608 Feb 10, 2022
1d62986
add docs for waitUntilNav2Active (#275)
Feb 12, 2022
82391ca
Clarification to `robot_model_type` for users of galactic and earlier…
moooeeeep Feb 14, 2022
ce3ba6b
Remove unused parameter (#279)
tonynajjar Feb 18, 2022
f5e2bc1
fixed file path (#280)
Ryujiyasu Feb 20, 2022
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20 changes: 10 additions & 10 deletions commander_api/index.rst
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Expand Up @@ -52,28 +52,28 @@ If a server fails, it may throw an exception or return a `None` object, so pleas

+---------------------------------------+----------------------------------------------------------------------------+
| Robot Navigator Method | Description |
+===================================----+============================================================================+
+=======================================+============================================================================+
| setInitialPose(initial_pose) | Sets the initial pose (``PoseStamped``) of the robot to localization. |
+---------------------------------------+----------------------------------------------------------------------------+
| goThroughPoses(poses) | Requests the robot to drive through a set of poses |
| | (list of ``PoseStamped``). |
+---------------------------------------+----------------------------------------------------------------------------+
| goToPose(pose) | Requests the robot to drive to a pose (``PoseStamped``). |
+---------------------------------------+----------------------------------------------------------------------------+
| followWaypoints(poses) | Requests the robot to follow a set of waypoints (list of ``PoseStamped``). |
| followWaypoints(poses) | Requests the robot to follow a set of waypoints (list of ``PoseStamped``). |
| | This will execute the chosen ``TaskExecutor`` plugin at each pose. |
+---------------------------------------+----------------------------------------------------------------------------+
| followPath(path) | Requests the robot to follow a path from a starting to a goal |
| | ``PoseStamped``, ``nav_msgs/Path``. |
+---------------------------------------+----------------------------------------------------------------------------+
| spin(spin_dist, time_allowance) | Requests the robot to performs an in-place rotation by a given angle. |
| spin(spin_dist, time_allowance) | Requests the robot to performs an in-place rotation by a given angle. |
+---------------------------------------+----------------------------------------------------------------------------+
| backup(backup_dist, | Requests the robot to back up by a given distance. |
| backup(backup_dist, | Requests the robot to back up by a given distance. |
| backup_speed, time_allowance) | |
+---------------------------------------+----------------------------------------------------------------------------+
| cancelTask() | Cancel an ongoing task. |
+---------------------------------------+----------------------------------------------------------------------------+
| isTaskComplete() | Checks if task is complete yet, times out at ``100ms``. Returns |
| isTaskComplete() | Checks if task is complete yet, times out at ``100ms``. Returns |
| | ``True`` if completed and ``False`` if still going. |
+---------------------------------------+----------------------------------------------------------------------------+
| getFeedback() | Gets feedback from task, returns action server feedback msg. |
Expand All @@ -98,12 +98,12 @@ If a server fails, it may throw an exception or return a `None` object, so pleas
+---------------------------------------+----------------------------------------------------------------------------+
| getLocalCostmap() | Returns the local costmap, ``nav2_msgs/Costmap``. |
+---------------------------------------+----------------------------------------------------------------------------+
| waitUntilNav2Active() | Blocks until Nav2 is completely online and lifecycle nodes are in the |
| | active state. To be used in conjunction with autostart or external |
| | lifecycle bringup. |
| waitUntilNav2Active( | Blocks until Nav2 is completely online and lifecycle nodes are in the |
| navigator='bt_navigator', | active state. To be used in conjunction with autostart or external |
| localizer='amcl') | lifecycle bringup. Custom navigator and localizer nodes can be specified |
+---------------------------------------+----------------------------------------------------------------------------+
| lifecycleStartup() | Sends a request to all lifecycle management servers to bring them into |
| | the active state, to be used if autostart is ``False`` and you want this |
| lifecycleStartup() | Sends a request to all lifecycle management servers to bring them into |
| | the active state, to be used if autostart is ``False`` and you want this |
| | program to control Nav2's lifecycle. |
+---------------------------------------+----------------------------------------------------------------------------+
| lifecycleShutdown() | Sends a request to all lifecycle management servers to shut them down. |
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5 changes: 4 additions & 1 deletion configuration/packages/configuring-amcl.rst
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Expand Up @@ -319,7 +319,10 @@ Parameters
============== =============================

Description
The fully-qualified type of the plugin class. Options are nav2_amcl::DifferentialMotionModel and nav2_amcl::OmniMotionModel.
The fully-qualified type of the plugin class. Options are "nav2_amcl::DifferentialMotionModel" and "nav2_amcl::OmniMotionModel". Users can also provide their own custom motion model plugin type.

Note for users of galactic and earlier
The models are selectable by string key (valid options: "differential", "omnidirectional") rather than plugins.

:save_pose_rate:

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11 changes: 0 additions & 11 deletions configuration/packages/trajectory_critics/prefer_forward.rst
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Expand Up @@ -67,14 +67,3 @@ Parameters

Description
Weighed scale for critic.

:``<dwb plugin>``.\ ``<name>``.scale:

====== =======
Type Default
------ -------
double 1.0
====== =======

Description
Weighed scale for critic.
2 changes: 1 addition & 1 deletion tutorials/docs/navigation2_on_real_turtlebot3.rst
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Expand Up @@ -78,7 +78,7 @@ Note: Don't forget to change **/path/to/your-map.yaml** to the actual path to th

Launch RVIZ with a pre-defined configuration file.

``ros2 run rviz2 rviz2 -d $(ros2 pkg prefix nav2_bringup)/share/nav2_bringup/launch/nav2_default_view.rviz``
``ros2 run rviz2 rviz2 -d $(ros2 pkg prefix nav2_bringup)/share/nav2_bringup/rviz/nav2_default_view.rviz``

Now, you should see a shadow of Turtlebot 3 robot model in the center of the plot in Rviz.
Click on the Start button (Bottom Left) if you set the auto_start parameter to false.
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1 change: 0 additions & 1 deletion tutorials/docs/navigation2_with_stvl.rst
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Expand Up @@ -110,7 +110,6 @@ An example fully-described parameterization of an STVL configuration is:
decay_model: 0
voxel_size: 0.05
track_unknown_space: true
max_obstacle_height: 2.0
unknown_threshold: 15
mark_threshold: 0
update_footprint_enabled: true
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