Add documentation for full collision checking (ros-navigation#504)

* update docs Signed-off-by: gg <[email protected]> * updates Signed-off-by: gg <[email protected]> --------- Signed-off-by: gg <[email protected]>
mini-1235 · Jan 4, 2024 · 66872d6 · 66872d6
1 parent 544749e
commit 66872d6
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/configuration/packages/configuring-costmaps.rst b/configuration/packages/configuring-costmaps.rst
@@ -44,7 +44,7 @@ Costmap2D ROS Parameters
   ============== =======
 
   Description
-    Ordered set of footprint points passed in as a string, must be closed set. For example, the following defines a square base with side lengths of 0.2 meters `footprint: "[ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]"`. Note that this can also be adjusted over time using the costmap's ``~/footprint`` topic, which will update the polygon over time as needed due to changes in the robot's state, such as movement of an attached manipulator, picking up a pallet, or other actions that adjust a robot's shape.
+    Ordered set of footprint points passed in as a string, must be closed set. For example, the following defines a square base with side lengths of 0.2 meters `footprint: "[ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]"`. Note that this can also be adjusted over time using the costmap's ``~/footprint`` topic, which will update the polygon over time as needed due to changes in the robot's state, such as movement of an attached manipulator, picking up a pallet, or other actions that adjust a robot's shape. If this parameter is set, ``isPathValid`` will do full collision checking.
 
 :global_frame:
 
@@ -176,7 +176,7 @@ Costmap2D ROS Parameters
   ============== =======
 
   Description
-    Robot radius to use, if footprint coordinates not provided.
+    Robot radius to use, if footprint coordinates not provided. If this parameter is set, ``isPathValid`` will do circular collision checking.
 
 :rolling_window: