Added range sensor costmap layer to documentation

configuration/packages/costmap-plugins/range.rst

@@ -0,0 +1,107 @@
+.. range:
+
+Range Sensor Parameters
+======================
+
+``<range layer>`` is the corresponding plugin name selected for this type.
+
+:``<range layer>``.enabled:
+
+  ==== =======
+  Type Default
+  ---- -------
+  bool True
+  ==== =======
+
+  Description
+    Whether it is enabled.
+
+:``<range layer>``.topics:
+
+  ==== =======
+  Type Default
+  ---- -------
+  bool [""]
+  ==== =======
+
+  Description
+    Range topics to subscribe to.
+
+:``<range layer>``.phi:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 1.2
+  ====== =======
+
+  Description
+    Phi value.
+
+:``<range layer>``.inflate_cone:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  int    1.0
+  ====== =======
+
+  Description
+    Inflate the triangular area covered by the sensor (percentage).
+
+:``<range layer>``.no_readings_timeout:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 0.0
+  ====== =======
+
+  Description
+    If zero, this parameter has no effect. Otherwise if the layer does
+    not receive sensor data for this amount of time,
+    the layer will warn the user and the layer will be marked as not current.
+
+:``<range layer>``.clear_threshold:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 0.2
+  ====== =======
+
+  Description
+     Probability below which cells are marked as free.
+
+:``<range layer>``.mark_threshold:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  int    0.8
+  ====== =======
+
+  Description
+    Probability above which cells are marked as occupied.
+
+:``<range layer>``.clear_on_max_reading:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  int    False
+  ====== =======
+
+  Description
+    Whether to clear the sensor readings on max range.
+
+:``<range layer>``.input_sensor_type:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  int    ALL
+  ====== =======
+
+  Description
+    Input sensor type is either ALL (automatic selection), VARIABLE (min range != max range), or FIXED (min range == max range).