From 4ad691fad0ced2a385fbd9b0885080cbb47c8c61 Mon Sep 17 00:00:00 2001 From: Poornima JD <31023599+poornimajd@users.noreply.github.com> Date: Wed, 10 Nov 2021 18:48:51 +0530 Subject: [PATCH 1/4] Update Galactic.rst --- migration/Galactic.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/migration/Galactic.rst b/migration/Galactic.rst index 22375d33b..367bf0c5d 100644 --- a/migration/Galactic.rst +++ b/migration/Galactic.rst @@ -179,3 +179,8 @@ Removed Kinematic Limiting in RPP ********************************* The parameters ``max_linear_accel`` and ``max_linear_decel`` were removed along with the kinematic limiting in the controller causing instabilities. Instead, use a velocity smoother available in the ROS ecosystem if you would like similar behavior. + +Refactored AMCL motion models as plugins +**************************************** + +`This PR `_ creates plugins for the different motion models currently used in AMCL.This functionality enables users to use any custom motion model by creating it as a plugin and changing the robot_model_type parameter to the name of the plugin in nav2_params.yaml file.This helps to use custom motion models without the need to modify the AMCL source code. From 591cb6cbdab7d4243683d3b1e0629ea4d9e13756 Mon Sep 17 00:00:00 2001 From: Poornima JD <31023599+poornimajd@users.noreply.github.com> Date: Wed, 10 Nov 2021 19:25:13 +0530 Subject: [PATCH 2/4] Update configuring-amcl.rst --- configuration/packages/configuring-amcl.rst | 21 ++++++++++++++++++--- 1 file changed, 18 insertions(+), 3 deletions(-) diff --git a/configuration/packages/configuring-amcl.rst b/configuration/packages/configuring-amcl.rst index 784570a0f..741c25bb5 100644 --- a/configuration/packages/configuring-amcl.rst +++ b/configuration/packages/configuring-amcl.rst @@ -315,11 +315,11 @@ Parameters ============== ============================= Type Default -------------- ----------------------------- - string "differential" + string "nav2_amcl::DifferentialMotionModel" ============== ============================= Description - Name of robot model type. Options are differential and omnidirectional. + The fully-qualified type of the plugin class. Options are nav2_amcl::DifferentialMotionModel and nav2_amcl::OmniMotionModel. :save_pose_rate: @@ -496,7 +496,7 @@ Example recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 - robot_model_type: "differential" + robot_model_type: "nav2_amcl::DifferentialMotionModel" save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: true @@ -510,3 +510,18 @@ Example always_reset_initial_pose: false scan_topic: scan map_topic: map + + +Example XML file +**************** + +.. code-block:: xml + + + + This is a differential motion model plugin. + + + This is a omni motion model plugin. + + From 23dd822eacddbf1154b1f8270e9939752708f938 Mon Sep 17 00:00:00 2001 From: Poornima JD <31023599+poornimajd@users.noreply.github.com> Date: Thu, 11 Nov 2021 09:01:04 +0530 Subject: [PATCH 3/4] Update Galactic.rst --- migration/Galactic.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/migration/Galactic.rst b/migration/Galactic.rst index 367bf0c5d..dbd898a79 100644 --- a/migration/Galactic.rst +++ b/migration/Galactic.rst @@ -183,4 +183,4 @@ The parameters ``max_linear_accel`` and ``max_linear_decel`` were removed along Refactored AMCL motion models as plugins **************************************** -`This PR `_ creates plugins for the different motion models currently used in AMCL.This functionality enables users to use any custom motion model by creating it as a plugin and changing the robot_model_type parameter to the name of the plugin in nav2_params.yaml file.This helps to use custom motion models without the need to modify the AMCL source code. +`This PR `_ creates plugins for the different motion models currently used in AMCL. This functionality enables users to use any custom motion model by creating it as a plugin and changing the robot_model_type parameter to the name of the plugin in nav2_params.yaml file. This helps to use custom motion models without the need to modify the AMCL source code. From 513cf1d0a6ed692d860040e31b79224d91dc2a42 Mon Sep 17 00:00:00 2001 From: Poornima JD <31023599+poornimajd@users.noreply.github.com> Date: Thu, 11 Nov 2021 09:02:16 +0530 Subject: [PATCH 4/4] Update configuring-amcl.rst --- configuration/packages/configuring-amcl.rst | 16 +--------------- 1 file changed, 1 insertion(+), 15 deletions(-) diff --git a/configuration/packages/configuring-amcl.rst b/configuration/packages/configuring-amcl.rst index 741c25bb5..a33198844 100644 --- a/configuration/packages/configuring-amcl.rst +++ b/configuration/packages/configuring-amcl.rst @@ -510,18 +510,4 @@ Example always_reset_initial_pose: false scan_topic: scan map_topic: map - - -Example XML file -**************** - -.. code-block:: xml - - - - This is a differential motion model plugin. - - - This is a omni motion model plugin. - - +