Merge remote-tracking branch 'origin/master' into PoseStampedArray

Signed-off-by: Tony Najjar <[email protected]>

configuration/packages/configuring-graceful-motion-controller.rst

@@ -256,12 +256,12 @@ Example
         initial_rotation_threshold: 0.75
         prefer_final_rotation: true
         allow_backward: false
-        k_phi: 3.0
-        k_delta: 2.0
+        k_phi: 2.0
+        k_delta: 1.0
         beta: 0.4
         lambda: 2.0
         v_linear_min: 0.1
-        v_linear_max: 1.0
+        v_linear_max: 0.5
         v_angular_max: 5.0
         v_angular_min_in_place: 0.25
         slowdown_radius: 1.5

configuration/packages/configuring-rotation-shim-controller.rst

@@ -41,6 +41,17 @@ Rotation Shim Controller Parameters
   Description
     Maximum angular distance, in radians, away from the path heading to trigger rotation until within.
 
+:angular_disengage_threshold:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  double         0.3925
+  ============== ===========================
+
+  Description
+    New to Jazzy, the threshold to the path's heading before disengagement (radians). Prior to Jazzy, disengagement occurs at the ``angular_dist_threshold`` instead. This allows for better alignment before passing to the child controller when engaged.
+
 :forward_sampling_distance:
 
   ============== =============================
@@ -147,6 +158,7 @@ Example
         primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
         angular_dist_threshold: 0.785
         forward_sampling_distance: 0.5
+        angular_disengage_threshold: 0.3925
         rotate_to_heading_angular_vel: 1.8
         max_angular_accel: 3.2
         simulate_ahead_time: 1.0

migration/Jazzy.rst

@@ -215,6 +215,22 @@ In `PR #4795 <https://github.com/ros-navigation/navigation2/pull/4795>`_ the ``n
 * Addition of ``v_angular_min_in_place`` parameter to avoid the robot getting stuck while rotating due to mechanical limitations.
 * ``final_rotation`` has been renamed ``prefer_final_rotation`` and the behavior has changed slightly.
 
+Conform to ROS 2 launch syntax in Turtlebot 3 multi-robot launch file
+*********************************************************************
+
+In `PR #4811 <https://github.com/ros-navigation/navigation2/pull/4811>`_ the ``cloned_multi_tb3_simulation_launch.py`` launch file was updated so that parsing the robots conforms to the ROS 2 launch file standards. This was achieved by refactoring the ``ParseMultiRobotPose`` class to be a custom launch substitution. This change allows users to pass the ``robots`` from another launch file through ``launch_arguments`` which was not possible with the old version.
+
+Example for including ``cloned_multi_tb3_simulation_launch.py`` in another launch file:
+
+.. code-block:: python
+
+    IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('nav2_bringup'), "launch", "cloned_multi_tb3_simulation_launch.py")
+        ),
+        launch_arguments={"robots": "robot1={x: 0.5, y: 0.5, yaw: 1.5707}"}.items(),
+    )
+
 ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
 ************************************************************************************************************************