adding documentation for the random walk planner

robot/ros_ws/src/autonomy/4_global/b_planners/random_walk/README.md

@@ -1 +1,34 @@
-# Random Walk Global Planner Baseline
+# Random Walk Global Planner Baseline
+
+The Random Walk Planner serves as a baseline global planner for stress testing system autonomy. Unlike more informed and intelligent planners, the Random Walk Planner generates a series of random trajectories to evaluate system robustness. Using the map published by VDB, the planner will generate and publish multiple linked straight-line trajectories, checking for collisions along these paths.
+
+## Functionality
+
+Upon activation by the behavior tree, the Random Walk Planner will:
+
+1. Generate a specified number of straight-line path segments.
+2. Continuously monitor the robot's progress along the published path.
+3. Once the robot completes the current path, a new set of paths will be generated.
+
+This loop continues, allowing the system to explore various trajectories and stress test the overall autonomy stack.
+
+## Parameters
+
+The following parameters can be adjusted to control the behavior of the Random Walk Planner:
+
+`num_paths_to_generate`: Number of straight-line paths to concatenate into a complete trajectory.
+
+`max_start_to_goal_dist_m`: Maximum distance (in meters) from the start point to the goal point for each straight-line segment.
+
+`checking_point_cnt`: Number of points along each straight-line segment to check for collisions.
+
+`max_z_change_m`: Maximum allowed change in height (z-axis) between the start and goal points.
+
+`collision_padding_m`: Extra padding (in meters) added around a voxel's dimensions when checking for collisions.
+
+`path_end_threshold_m`: Distance threshold (in meters) for considering the current path completed and generating a new one.
+
+`max_z_angle_change_rad`: Maximum allowed change in angle (in radians) between consecutive straight-line segments to ensure a relatively consistent direction.
+
+
+

robot/ros_ws/src/autonomy/4_global/b_planners/random_walk/config/random_walk_config.yaml

@@ -9,9 +9,9 @@
     srv_random_walk_toggle_topic: "/robot_1/behavior/global_plan_toggle"
 
     publish_visualizations: false # should trajectory visualizations be published
-    num_paths_to_generate: 5 # how many paths to generate
+    num_paths_to_generate: 5 # how many random walk paths to string together
 
-    # Constants
+    # Random Walk Planner Parameters
     max_start_to_goal_dist_m: 5.0 # how max distance the goal can be from the current robot position
     checking_point_cnt: 100 # how many points to collision check between the start and goal points
     max_z_change_m: 0.1 # max height that the goal can deviate from the current height