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Update collision monitor documentation with the new enabled parameter #781

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Merged
merged 3 commits into from
Sep 26, 2025
Merged

Update collision monitor documentation with the new enabled parameter #781

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0eaf3d3
Added enabled parameter to collision monitor documentation
armgits Sep 26, 2025
9d7f36e
Removed trailing whitespaces
armgits Sep 26, 2025
bf96ec6
Attempt to fix indentation issues
armgits Sep 26, 2025
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6 changes: 3 additions & 3 deletions configuration/packages/bt-plugins/actions/ToggleCollisionMonitor.rst
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Expand Up @@ -18,7 +18,7 @@ Input Ports
============== =======

Description
Whether to enable or disable the collision monitor.
Whether to enable or disable the collision monitor.

:service_name:

Expand All @@ -29,7 +29,7 @@ Input Ports
============== =======

Description
Service name.
Service name.

:server_timeout:

Expand All @@ -40,7 +40,7 @@ Input Ports
============== =======

Description
Server timeout (ms).
Server timeout (ms).

Example
-------
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14 changes: 14 additions & 0 deletions configuration/packages/collision_monitor/configuring-collision-monitor-node.rst
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Expand Up @@ -61,6 +61,19 @@ The data may be obtained from different data sources:
Parameters
**********

:enabled:

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

Description:
Sets the initial state. This can come in handy when the robot is docked/inside any of the zones at startup and the node needs to be disabled then.
Please note that is not a dynamic parameter, there's ``/toggle`` service interface
and `BT Node <https://docs.nav2.org/configuration/packages/bt-plugins/actions/ToggleCollisionMonitor.html>`_ to update this state later at runtime.

:base_frame_id:

============== =============================
Expand Down Expand Up @@ -651,6 +664,7 @@ Here is an example of configuration YAML for the Collision Monitor.

collision_monitor:
ros__parameters:
enabled: True
base_frame_id: "base_footprint"
odom_frame_id: "odom"
cmd_vel_in_topic: "cmd_vel_smoothed"
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1 change: 1 addition & 0 deletions tutorials/docs/using_collision_monitor.rst
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Expand Up @@ -79,6 +79,7 @@ The whole ``nav2_collision_monitor/params/collision_monitor_params.yaml`` file i

collision_monitor:
ros__parameters:
enabled: True
base_frame_id: "base_footprint"
odom_frame_id: "odom"
cmd_vel_in_topic: "cmd_vel_smoothed"
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