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Update docs to add velocity limit parameter in DWB Controller #591

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merged 3 commits into from
Sep 12, 2024
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Update docs to add velocity limit parameter in DWB Controller #591

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97d2c0e
Update docs
huiyulhy Sep 12, 2024
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update title
huiyulhy Sep 12, 2024
307152b
Update configuration/packages/dwb-plugins/standard_traj_generator.rst
huiyulhy Sep 12, 2024
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1 change: 1 addition & 0 deletions configuration/packages/configuring-dwb-controller.rst
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Expand Up @@ -104,6 +104,7 @@ Example
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
limit_vel_cmd_in_traj: False
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
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11 changes: 11 additions & 0 deletions configuration/packages/dwb-plugins/standard_traj_generator.rst
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Expand Up @@ -73,3 +73,14 @@ Parameters

Description
Whether to include the last pose in the trajectory.

:``<dwb plugin>``.limit_vel_cmd_in_traj:

==== =======
Type Default
---- -------
bool false
==== =======

Description
Whether to limit velocity command in trajectory using current velocity.
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12 changes: 11 additions & 1 deletion migration/Jazzy.rst
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Expand Up @@ -80,4 +80,14 @@ Before:

After:

.. image:: images/fix_flickering_visualization_after.png
.. image:: images/fix_flickering_visualization_after.png

Option to limit velocity through DWB trajectory
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****************************

In `PR #4663 <https://github.com/ros-navigation/navigation2/pull/4663>`_ a ``limit_vel_cmd_in_traj`` parameter was introduced to DWB local planner to allow the user to limit the velocity used in the trajectory generation based on the robot's current velocity.

Default value:

- false

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