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fix: correct external detection rotation in opennav_docking #899

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SteveMacenski merged 1 commit into from
Apr 9, 2026
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fix: correct external detection rotation in opennav_docking #899

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10 changes: 10 additions & 0 deletions migration/Kilted.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -202,6 +202,16 @@ Removed Parameter action_server_result_timeout
Removed the parameter ``action_server_result_timeout`` from all action servers after resolution within ``rcl`` and ``rclcpp`` to address early goal removal.
This is not longer required to be set.

Dock Plugin External Detection Rotation
---------------------------------------

The external detection rotation order of ``Simple(Non)ChargingDock`` dock plugins has changed to the more natural Rx -> Ry -> Rz (was: Rz -> Rx -> Ry). From implementation point of view, ``setEuler()`` calls have been replaced with ``setRPY()``. The old behavior is retained only when

- ``external_detection_rotation_yaw`` equals 0.0, or
- ``external_detection_rotation_pitch`` and ``external_detection_rotation_roll`` both equal 0.0

Non-default external detection rotation that differs from the above cases needs to be adjusted appropriately.
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Dock Plugin Detector Control
----------------------------

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