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adding twist to twist stamped migration info (ros-navigation#614)
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Signed-off-by: Steve Macenski <[email protected]>
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SteveMacenski authored and alexanderjyuen committed Dec 11, 2024
1 parent afe379f commit a627eb9
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Showing 7 changed files with 34 additions and 12 deletions.
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Expand Up @@ -200,12 +200,13 @@ Parameters
============== =============================
Type Default
-------------- -----------------------------
bool false
bool true
============== =============================

Description
Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
True uses TwistStamped, false uses Twist.
Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.

Polygons parameters
===================
Expand Down Expand Up @@ -608,7 +609,7 @@ Here is an example of configuration YAML for the Collision Monitor.
source_timeout: 5.0
base_shift_correction: True
stop_pub_timeout: 2.0
enable_stamped_cmd_vel: False
enable_stamped_cmd_vel: True # False for Jazzy or older
use_realtime_priority: false
polygons: ["PolygonStop", "PolygonSlow", "FootprintApproach"]
PolygonStop:
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14 changes: 9 additions & 5 deletions configuration/packages/configuring-behavior-server.rst
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Expand Up @@ -233,12 +233,13 @@ Spin distance is given from the action request
============== =============================
Type Default
-------------- -----------------------------
bool false
bool true
============== =============================

Description
Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
True uses TwistStamped, false uses Twist.
Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.


BackUp Behavior Parameters
Expand All @@ -262,12 +263,13 @@ Backup distance, speed and time_allowance is given from the action request.
============== =============================
Type Default
-------------- -----------------------------
bool false
bool true
============== =============================

Description
Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
True uses TwistStamped, false uses Twist.
Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.

DriveOnHeading Behavior Parameters
**********************************
Expand All @@ -290,12 +292,13 @@ DriveOnHeading distance, speed and time_allowance is given from the action reque
============== =============================
Type Default
-------------- -----------------------------
bool false
bool true
============== =============================

Description
Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
True uses TwistStamped, false uses Twist.
Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.

:bond_heartbeat_period:

Expand Down Expand Up @@ -351,12 +354,13 @@ AssistedTeleop time_allowance is given in the action request
============== =============================
Type Default
-------------- -----------------------------
bool false
bool true
============== =============================

Description
Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
True uses TwistStamped, false uses Twist.
Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.

Example
*******
Expand Down Expand Up @@ -388,4 +392,4 @@ Example
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
enable_stamped_cmd_vel: false
enable_stamped_cmd_vel: true # default false in Jazzy or older
3 changes: 2 additions & 1 deletion configuration/packages/configuring-controller-server.rst
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Expand Up @@ -210,12 +210,13 @@ Parameters
============== =============================
Type Default
-------------- -----------------------------
bool false
bool true
============== =============================

Description
Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
True uses TwistStamped, false uses Twist.
Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.

:bond_heartbeat_period:

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5 changes: 3 additions & 2 deletions configuration/packages/configuring-loopback-sim.rst
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Expand Up @@ -74,11 +74,12 @@ Parameters
============== ==============
Type Default
-------------- --------------
string false
string True
============== ==============

Description
Whether cmd_vel is stamped or unstamped (i.e. Twist or TwistStamped)
Whether cmd_vel is stamped or unstamped (i.e. Twist or TwistStamped).
Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.

:scan_publish_dur:

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3 changes: 2 additions & 1 deletion configuration/packages/configuring-velocity-smoother.rst
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Expand Up @@ -153,12 +153,13 @@ Velocity Smoother Parameters
============== =============================
Type Default
-------------- -----------------------------
bool false
bool true
============== =============================

Description
Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
True uses TwistStamped, false uses Twist.
Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.

:bond_heartbeat_period:

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14 changes: 14 additions & 0 deletions migration/Jazzy.rst
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Expand Up @@ -5,6 +5,20 @@ Jazzy to K-Turtle

Moving from ROS 2 Jazzy to K-Turtle, a number of stability improvements were added that we will not specifically address here.

TwistStamped Default CmdVel Change
**********************************

In Kilted and newer, the default ``cmd_vel`` topic for all ``Twist`` publishers and subscriptions is changed to ``TwistStamped`` in order to enable a broader range of applications.
it also allows for rejection of stale velocity messages, which can be useful in some applications.
Your robot should now subscribe to a ``TwistStamped`` message instead of a ``Twist`` message & update your simulation appropriately.
The topic names are the same.

However, this can be disabled by setting ``enable_twist_stamped`` to ``false`` in the ``nav2_params.yaml`` file for all nodes that involve Twist subscriptions or publications.
See the configuration guide for more information on how to configure this parameter for each node.

An example simulation migration using Gazebo can be seen in the `following pull request for the Turtlebot 3 and 4 <https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation/pull/16>`_.


New Nav2 Loopback Simulator
***************************

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2 changes: 1 addition & 1 deletion tutorials/docs/using_collision_monitor.rst
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Expand Up @@ -87,7 +87,7 @@ The whole ``nav2_collision_monitor/params/collision_monitor_params.yaml`` file i
transform_tolerance: 0.5
source_timeout: 5.0
stop_pub_timeout: 2.0
enable_stamped_cmd_vel: False
enable_stamped_cmd_vel: True # False for Jazzy or older by default
polygons: ["PolygonStop", "PolygonSlow"]
PolygonStop:
type: "polygon"
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