From a542b1a33c6a0c51d900937fdd51cc9a7065a24b Mon Sep 17 00:00:00 2001 From: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> Date: Mon, 20 Oct 2025 21:26:31 -0500 Subject: [PATCH 1/2] Update configuring-collision-monitor-node.rst Changes to support issue 5585 from the nav2 repo. Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> --- .../configuring-collision-monitor-node.rst | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst b/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst index 0fea36cb45..606a71d031 100644 --- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst +++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst @@ -573,6 +573,17 @@ Observation sources parameters Description: Maximum height the PointCloud projection to 2D space ended with. Applicable for ``pointcloud`` type. +:````.use_global_height: + + ============== ============================= + Type Default + -------------- ----------------------------- + bool false + ============== ============================= + + Description: + Set true for pointcloud sources containing a "height" field relative to a real world ground contour. The "height" field will be used for the min and max height checks instead of the "z" field and will not be transformed with the rest of the cloud data. Applicable for ``pointcloud`` type. + :````.min_range: ============== ============================= From 236822553f205c06f3c6b41a6616a3a0bb9ee1de Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Mon, 20 Oct 2025 20:50:41 -0700 Subject: [PATCH 2/2] Update configuration/packages/collision_monitor/configuring-collision-monitor-node.rst Signed-off-by: Steve Macenski --- .../collision_monitor/configuring-collision-monitor-node.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst b/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst index 606a71d031..5b9d5a1a19 100644 --- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst +++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst @@ -582,7 +582,7 @@ Observation sources parameters ============== ============================= Description: - Set true for pointcloud sources containing a "height" field relative to a real world ground contour. The "height" field will be used for the min and max height checks instead of the "z" field and will not be transformed with the rest of the cloud data. Applicable for ``pointcloud`` type. + Set true for pointcloud sources containing a "height" field relative to a real world ground contour. The "height" field will be used for the min and max height checks instead of the "z" field and will not be transformed as it is assumed that height is already global frame referenced. Applicable for ``pointcloud`` type. :````.min_range: