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Add costmap update timeout #662

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Merged
SteveMacenski merged 4 commits into from
Mar 25, 2025
Merged

Add costmap update timeout #662

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1daff64
Add costmap update timeout in controller and planner
mini-1235 Mar 25, 2025
cf63934
Remove [
mini-1235 Mar 25, 2025
3e3f10d
Update configuration/packages/configuring-planner-server.rst
SteveMacenski Mar 25, 2025
8dce96b
Update configuration/packages/configuring-controller-server.rst
SteveMacenski Mar 25, 2025
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12 changes: 12 additions & 0 deletions configuration/packages/configuring-controller-server.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,17 @@ Parameters
Description
Frequency to run controller (Hz).

:costmap_update_timeout:

============== ========
Type Default
-------------- --------
double 0.3
============== ========

Description
The timeout value (seconds) for the costmap to be fully updated before a control effort can be computed.

:use_realtime_priority:

============== =======
Expand Down Expand Up @@ -264,6 +275,7 @@ Example
ros__parameters:
use_sim_time: True
controller_frequency: 20.0
costmap_update_timeout: 0.3
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
Expand Down
14 changes: 13 additions & 1 deletion configuration/packages/configuring-planner-server.rst
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Expand Up @@ -44,7 +44,7 @@ Parameters
============== ========
Type Default
-------------- --------
double [20.0]
double 20.0
============== ========

Description
Expand Down Expand Up @@ -75,6 +75,17 @@ Parameters
Description
The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.

:costmap_update_timeout:

============== ========
Type Default
-------------- --------
double 1.0
============== ========

Description
The timeout value (seconds) for the costmap to be fully updated before a planning request.

Default Plugins
***************

Expand All @@ -93,6 +104,7 @@ Example
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
costmap_update_timeout: 1.0
planner_plugins: ['GridBased']
GridBased:
plugin: 'nav2_navfn_planner::NavfnPlanner' # In Iron and older versions, "/" was used instead of "::"