From 7c6454915e939b9884b91a626eb293e51ebbb145 Mon Sep 17 00:00:00 2001 From: Kemal Bektas Date: Wed, 2 Apr 2025 08:34:22 +0200 Subject: [PATCH 1/4] Add Rotation Shim Controller Use Path Orientations Signed-off-by: Kemal Bektas --- .../packages/configuring-rotation-shim-controller.rst | 11 +++++++++++ migration/Jazzy.rst | 9 +++++++++ 2 files changed, 20 insertions(+) diff --git a/configuration/packages/configuring-rotation-shim-controller.rst b/configuration/packages/configuring-rotation-shim-controller.rst index c6d3af8894..5ffaf4fc45 100644 --- a/configuration/packages/configuring-rotation-shim-controller.rst +++ b/configuration/packages/configuring-rotation-shim-controller.rst @@ -140,6 +140,17 @@ Rotation Shim Controller Parameters Description If false, the rotationShimController will use the last commanded velocity as the next iteration's current velocity. When acceleration limits are set appropriately and the robot's controllers are responsive, this can be a good assumption. If true, it will use odometry to estimate the robot's current speed. In this case it is important that the source is high-rate and low-latency to account for control delay. +:use_path_orientations: + + ============== =========================== + Type Default + -------------- --------------------------- + bool false + ============== =========================== + + Description + If true, the controller will use the orientations of the path points to compute the heading of the path instead of computing the heading from the path points. If true, the controller will use the orientations of the path points to compute the heading of the path instead of computing the heading from the path points. Use for for feasible planners like the Smac Planner which generate feasible paths with orientations for forward and reverse motion. + Example ******* .. code-block:: yaml diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index abc7277c22..cddcc8e1dd 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -362,3 +362,12 @@ In `PR #4996 `_ a new p Default value: - 253 + +Rotation Shim Using Path Orientations +******************************* + +The parameter ``use_path_orientations`` was introduced to the Rotation Shim Controller to allow users to choose between using the orientations of the path points to compute the heading of the path instead of computing the heading from the path points. This is useful for planners that generate feasible paths with orientations for forward and reverse motion, such as the Smac Planner. + +Default value: + +- false From a6a81d0ca46906bf8ffb8d43a16213c30c3ef8b5 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 2 Apr 2025 09:48:38 -0700 Subject: [PATCH 2/4] Update migration/Jazzy.rst Signed-off-by: Steve Macenski --- migration/Jazzy.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index cddcc8e1dd..4863fa5c38 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -364,7 +364,7 @@ Default value: - 253 Rotation Shim Using Path Orientations -******************************* +************************************* The parameter ``use_path_orientations`` was introduced to the Rotation Shim Controller to allow users to choose between using the orientations of the path points to compute the heading of the path instead of computing the heading from the path points. This is useful for planners that generate feasible paths with orientations for forward and reverse motion, such as the Smac Planner. From 894fb3fe4dc2e610e6f45a422df5409c2978e5d8 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 2 Apr 2025 09:48:44 -0700 Subject: [PATCH 3/4] Update migration/Jazzy.rst Signed-off-by: Steve Macenski --- migration/Jazzy.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index 4863fa5c38..7e96740489 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -366,7 +366,7 @@ Default value: Rotation Shim Using Path Orientations ************************************* -The parameter ``use_path_orientations`` was introduced to the Rotation Shim Controller to allow users to choose between using the orientations of the path points to compute the heading of the path instead of computing the heading from the path points. This is useful for planners that generate feasible paths with orientations for forward and reverse motion, such as the Smac Planner. +The parameter ``use_path_orientations`` was introduced to the Rotation Shim Controller to allow users to choose between using the orientations of the path points to compute the heading of the path instead of computing the heading from the path point's relative locations. This is useful for planners that generate feasible paths with orientations for forward and reverse motion, such as the Smac Planner. Default value: From e0f62f034a42196ba084672e32c56f0f7c048685 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 2 Apr 2025 09:48:49 -0700 Subject: [PATCH 4/4] Update configuration/packages/configuring-rotation-shim-controller.rst Signed-off-by: Steve Macenski --- configuration/packages/configuring-rotation-shim-controller.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configuration/packages/configuring-rotation-shim-controller.rst b/configuration/packages/configuring-rotation-shim-controller.rst index 5ffaf4fc45..cc63b48078 100644 --- a/configuration/packages/configuring-rotation-shim-controller.rst +++ b/configuration/packages/configuring-rotation-shim-controller.rst @@ -149,7 +149,7 @@ Rotation Shim Controller Parameters ============== =========================== Description - If true, the controller will use the orientations of the path points to compute the heading of the path instead of computing the heading from the path points. If true, the controller will use the orientations of the path points to compute the heading of the path instead of computing the heading from the path points. Use for for feasible planners like the Smac Planner which generate feasible paths with orientations for forward and reverse motion. + If true, the controller will use the orientations of the path points to compute the heading of the path instead of computing the heading from the path point's relative locations. If true, the controller will use the orientations of the path points to compute the heading of the path instead of computing the heading from the path points. Use for for feasible planners like the Smac Planner which generate feasible paths with orientations for forward and reverse motion. Example *******