From e7facd9efe187760b6962b8c70b616ee122d59da Mon Sep 17 00:00:00 2001 From: Huiyu Leong <26198479+huiyulhy@users.noreply.github.com> Date: Thu, 12 Sep 2024 08:27:59 -0700 Subject: [PATCH] Update docs to add velocity limit parameter in DWB Controller (#591) * Update docs Signed-off-by: huiyulhy * update title Signed-off-by: huiyulhy * Update configuration/packages/dwb-plugins/standard_traj_generator.rst Co-authored-by: Steve Macenski Signed-off-by: Huiyu Leong <26198479+huiyulhy@users.noreply.github.com> --------- Signed-off-by: huiyulhy Signed-off-by: Huiyu Leong <26198479+huiyulhy@users.noreply.github.com> Co-authored-by: Steve Macenski Signed-off-by: Rob Fisher --- .../packages/configuring-dwb-controller.rst | 1 + .../packages/dwb-plugins/standard_traj_generator.rst | 11 +++++++++++ migration/Jazzy.rst | 12 +++++++++++- 3 files changed, 23 insertions(+), 1 deletion(-) diff --git a/configuration/packages/configuring-dwb-controller.rst b/configuration/packages/configuring-dwb-controller.rst index de74372d1..2e0c9dc81 100644 --- a/configuration/packages/configuring-dwb-controller.rst +++ b/configuration/packages/configuring-dwb-controller.rst @@ -104,6 +104,7 @@ Example xy_goal_tolerance: 0.25 trans_stopped_velocity: 0.25 short_circuit_trajectory_evaluation: True + limit_vel_cmd_in_traj: False stateful: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] BaseObstacle.scale: 0.02 diff --git a/configuration/packages/dwb-plugins/standard_traj_generator.rst b/configuration/packages/dwb-plugins/standard_traj_generator.rst index 84cf48920..3f098301e 100644 --- a/configuration/packages/dwb-plugins/standard_traj_generator.rst +++ b/configuration/packages/dwb-plugins/standard_traj_generator.rst @@ -73,3 +73,14 @@ Parameters Description Whether to include the last pose in the trajectory. + +:````.limit_vel_cmd_in_traj: + + ==== ======= + Type Default + ---- ------- + bool false + ==== ======= + + Description + Whether to limit velocity command in trajectory using sampled velocity instead of the commanded velocity. diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index 72797814b..42e4f9c12 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -80,4 +80,14 @@ Before: After: -.. image:: images/fix_flickering_visualization_after.png \ No newline at end of file +.. image:: images/fix_flickering_visualization_after.png + +Option to limit velocity through DWB trajectory +*********************************************** + +In `PR #4663 `_ a ``limit_vel_cmd_in_traj`` parameter was introduced to DWB local planner to allow the user to limit the velocity used in the trajectory generation based on the robot's current velocity. + +Default value: + +- false +