diff --git a/configuration/packages/configuring-graceful-motion-controller.rst b/configuration/packages/configuring-graceful-motion-controller.rst index 359bc54ff..dd052a801 100644 --- a/configuration/packages/configuring-graceful-motion-controller.rst +++ b/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 diff --git a/configuration/packages/configuring-rotation-shim-controller.rst b/configuration/packages/configuring-rotation-shim-controller.rst index 3186199aa..60cb13d7c 100644 --- a/configuration/packages/configuring-rotation-shim-controller.rst +++ b/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 diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index 73619b3f1..9cd47768c 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -215,6 +215,22 @@ In `PR #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 `_ 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 ************************************************************************************************************************