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Merged
SteveMacenski merged 5 commits into from
Mar 18, 2026
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docs(collision_monitor): add debounce trigger/release parameters #888

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4ef0e07
docs(collision_monitor): document debounce trigger/release parameters
Neomelt Mar 17, 2026
24cc271
docs(collision_monitor): add debounce params to detector guide
Neomelt Mar 18, 2026
196eb56
docs(migration): add collision monitor debounce parameter notes
Neomelt Mar 18, 2026
07fb096
docs(migration): move collision monitor debounce note to end
Neomelt Mar 18, 2026
bebca5b
style(docs): fix eof newline in Kilted migration note
Neomelt Mar 18, 2026
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25 changes: 25 additions & 0 deletions configuration/packages/collision_monitor/configuring-collision-detector-node.rst
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Expand Up @@ -182,6 +182,31 @@ Polygons parameters
Description:
Minimum number of data readings within a zone to trigger the action. Former ``max_points`` parameter for Humble, that meant the maximum number of data readings within a zone to not trigger the action). ``min_points`` is equal to ``max_points + 1`` value.

:``<polygon_name>``.trigger_consecutive_points:

============== =============================
Type Default
-------------- -----------------------------
int 1
============== =============================

Description:
Number of consecutive processing cycles with ``points_inside >= min_points`` required to enter the triggered state.
A value of ``1`` means trigger in a single processing cycle.

:``<polygon_name>``.release_consecutive_points:

============== =============================
Type Default
-------------- -----------------------------
int 1
============== =============================

Description:
Number of consecutive processing cycles with ``points_inside < min_points`` required to leave the triggered state.
A value of ``1`` means release in a single processing cycle.
In practice, values greater than ``1`` can reduce sensor noise flicker while remaining responsive.

:``<polygon_name>``.visualize:

============== =============================
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25 changes: 25 additions & 0 deletions configuration/packages/collision_monitor/configuring-collision-monitor-node.rst
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Expand Up @@ -322,6 +322,31 @@ Polygons parameters
Description:
Minimum number of data readings within a zone to trigger the action. Former ``max_points`` parameter for Humble, that meant the maximum number of data readings within a zone to not trigger the action). ``min_points`` is equal to ``max_points + 1`` value.

:``<polygon_name>``.trigger_consecutive_points:
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@SteveMacenski SteveMacenski Mar 17, 2026

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What about https://github.com/Neomelt/docs.nav2.org/blob/4ef0e07edf815b670f47b2d1864fe5fa9c3251c8/configuration/packages/collision_monitor/configuring-collision-detector-node.rst?

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@Neomelt Neomelt Mar 18, 2026 •
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Done!Updated detector docs too in this PR


============== =============================
Type Default
-------------- -----------------------------
int 1
============== =============================

Description:
Number of consecutive processing cycles with ``points_inside >= min_points`` required to enter the triggered state.
A value of ``1`` means trigger in a single processing cycle.

:``<polygon_name>``.release_consecutive_points:

============== =============================
Type Default
-------------- -----------------------------
int 1
============== =============================

Description:
Number of consecutive processing cycles with ``points_inside < min_points`` required to leave the triggered state.
A value of ``1`` means release in a single processing cycle.
In practice, values greater than ``1`` can reduce sensor noise flicker while remaining responsive.

:``<polygon_name>``.slowdown_ratio:

============== =============================
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16 changes: 16 additions & 0 deletions migration/Kilted.rst
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Expand Up @@ -844,3 +844,19 @@ In `PR 5991 <https://github.com/ros-navigation/navigation2/pull/5991>`_, the fol
- `IsPoseOccupied` is now `CheckPoseOccupancy`

This change was made because these behavior tree nodes may return RUNNING or require more time to complete, making them unsuitable for behavior tree that are expected to be ticked at 100 Hz.

Collision Monitor debounce parameters
-------------------------------------

`PR #6006 <https://github.com/ros-navigation/navigation2/pull/6006>`_ adds temporal debounce controls for polygon trigger behavior in Collision Monitor and Collision Detector:

- ``<polygon_name>.trigger_consecutive_points``
- ``<polygon_name>.release_consecutive_points``

A value of ``1/1`` preserves single-cycle trigger/release behavior.
In practice, values greater than ``1`` can reduce sensor noise flicker while remaining responsive.

See:

- :ref:`configuring_collision_monitor_node`
- :ref:`configuring_collision_detector_node`
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