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Option allowing to consider or ignore time shifts #388

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merged 2 commits into from
Feb 16, 2023
Merged

Option allowing to consider or ignore time shifts #388

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Option allowing to consider or ignore time shifts
AlexeyMerzlyakov Feb 16, 2023
425e414
Update configuration/packages/configuring-collision-monitor.rst
SteveMacenski Feb 16, 2023
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12 changes: 12 additions & 0 deletions configuration/packages/configuring-collision-monitor.rst
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Expand Up @@ -113,6 +113,17 @@ Parameters
Description:
Maximum time interval in which source data is considered as valid.

:base_shift_correction:

============== =============================
Type Default
-------------- -----------------------------
bool True
============== =============================

Description:
Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time. If enabled, produces more accurate sources positioning in the robot base frame, at the cost of slower performance. This will cause average delays for ``~1/(2*odom_rate)`` per each ``cmd_vel`` calculation cycle. However, disabling this option for better performance is not recommended for the fast moving robots, where during the typical rate of data sources, robot could move unacceptably far. Thus reasonable odometry rates are recommended (~100 hz).

:stop_pub_timeout:

============== =============================
Expand Down Expand Up @@ -363,6 +374,7 @@ For more information how to bring-up your own Collision Monitor node, please ref
cmd_vel_out_topic: "cmd_vel"
transform_tolerance: 0.5
source_timeout: 5.0
base_shift_correction: True
stop_pub_timeout: 2.0
polygons: ["PolygonStop", "PolygonSlow", "FootprintApproach"]
PolygonStop:
Expand Down