From 4a8a22893c48642789201214790ba178dd7387c1 Mon Sep 17 00:00:00 2001 From: wen-shuo hsu Date: Thu, 16 Apr 2026 16:08:15 +0200 Subject: [PATCH 1/2] update vector object server docs for new parameter enforce_global_frame_id Signed-off-by: wen-shuo hsu --- .../map_server/configuring-vector-object-server.rst | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/configuration/packages/map_server/configuring-vector-object-server.rst b/configuration/packages/map_server/configuring-vector-object-server.rst index 449aae5997..c8d3b6e47f 100644 --- a/configuration/packages/map_server/configuring-vector-object-server.rst +++ b/configuration/packages/map_server/configuring-vector-object-server.rst @@ -96,6 +96,17 @@ Parameters Description: The name of the coordinate frame where the map is being published at. +:enforce_global_frame_id: + + ============== ============================= + Type Default + -------------- ----------------------------- + bool false + ============== ============================= + + Description: + Enforce the use of the global frame ID for all shapes. Any shape with a non-empty frame ID, different than the global frame ID, will lead to failure. This will also disable the creation of the TF listener. + :resolution: ============== ============================= @@ -288,6 +299,7 @@ Here is an example of configuration YAML for the Vector Object server: ros__parameters: map_topic: "vo_map" global_frame_id: "map" + enforce_global_frame_id: False resolution: 0.05 default_value: -1 overlay_type: 0 From d09041b2c80dc14cccbfc856a51a01d220fc85fd Mon Sep 17 00:00:00 2001 From: wen-shuo hsu Date: Thu, 16 Apr 2026 16:21:54 +0200 Subject: [PATCH 2/2] fix trailing white space Signed-off-by: wen-shuo hsu --- .../packages/map_server/configuring-vector-object-server.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/configuration/packages/map_server/configuring-vector-object-server.rst b/configuration/packages/map_server/configuring-vector-object-server.rst index c8d3b6e47f..1dc5226da1 100644 --- a/configuration/packages/map_server/configuring-vector-object-server.rst +++ b/configuration/packages/map_server/configuring-vector-object-server.rst @@ -105,8 +105,8 @@ Parameters ============== ============================= Description: - Enforce the use of the global frame ID for all shapes. Any shape with a non-empty frame ID, different than the global frame ID, will lead to failure. This will also disable the creation of the TF listener. - + Enforce the use of the global frame ID for all shapes. Any shape with a non-empty frame ID, different than the global frame ID, will lead to failure. This will also disable the creation of the TF listener. + :resolution: ============== =============================