adding twist to twist stamped migration info (ros-navigation#614)

Signed-off-by: Steve Macenski <[email protected]>
alexanderjyuen · Dec 11, 2024 · 19ecec2 · 19ecec2
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commit 19ecec2
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Showing 7 changed files with 34 additions and 12 deletions.
diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst b/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst
@@ -200,12 +200,13 @@ Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 Polygons parameters
 ===================
@@ -608,7 +609,7 @@ Here is an example of configuration YAML for the Collision Monitor.
         source_timeout: 5.0
         base_shift_correction: True
         stop_pub_timeout: 2.0
-        enable_stamped_cmd_vel: False
+        enable_stamped_cmd_vel: True  # False for Jazzy or older
         use_realtime_priority: false
         polygons: ["PolygonStop", "PolygonSlow", "FootprintApproach"]
         PolygonStop:

diff --git a/configuration/packages/configuring-behavior-server.rst b/configuration/packages/configuring-behavior-server.rst
@@ -233,12 +233,13 @@ Spin distance is given from the action request
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 
 BackUp Behavior Parameters
@@ -262,12 +263,13 @@ Backup distance, speed and time_allowance is given from the action request.
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 DriveOnHeading Behavior Parameters
 **********************************
@@ -290,12 +292,13 @@ DriveOnHeading distance, speed and time_allowance is given from the action reque
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 :bond_heartbeat_period:
 
@@ -351,12 +354,13 @@ AssistedTeleop time_allowance is given in the action request
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 Example
 *******
@@ -388,4 +392,4 @@ Example
         max_rotational_vel: 1.0
         min_rotational_vel: 0.4
         rotational_acc_lim: 3.2
-        enable_stamped_cmd_vel: false
+        enable_stamped_cmd_vel: true  # default false in Jazzy or older
diff --git a/configuration/packages/configuring-controller-server.rst b/configuration/packages/configuring-controller-server.rst
@@ -210,12 +210,13 @@ Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 :bond_heartbeat_period:
 

diff --git a/configuration/packages/configuring-loopback-sim.rst b/configuration/packages/configuring-loopback-sim.rst
@@ -74,11 +74,12 @@ Parameters
   ============== ==============
   Type           Default
   -------------- --------------
-  string         false
+  string         True
   ============== ==============
 
   Description
-    Whether cmd_vel is stamped or unstamped (i.e. Twist or TwistStamped)
+    Whether cmd_vel is stamped or unstamped (i.e. Twist or TwistStamped).
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 :scan_publish_dur:
 

diff --git a/configuration/packages/configuring-velocity-smoother.rst b/configuration/packages/configuring-velocity-smoother.rst
@@ -153,12 +153,13 @@ Velocity Smoother Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 :bond_heartbeat_period:
 

diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst
@@ -5,6 +5,20 @@ Jazzy to K-Turtle
 
 Moving from ROS 2 Jazzy to K-Turtle, a number of stability improvements were added that we will not specifically address here.
 
+TwistStamped Default CmdVel Change
+**********************************
+
+In Kilted and newer, the default ``cmd_vel`` topic for all ``Twist`` publishers and subscriptions is changed to ``TwistStamped`` in order to enable a broader range of applications.
+it also allows for rejection of stale velocity messages, which can be useful in some applications.
+Your robot should now subscribe to a ``TwistStamped`` message instead of a ``Twist`` message & update your simulation appropriately.
+The topic names are the same.
+
+However, this can be disabled by setting ``enable_twist_stamped`` to ``false`` in the ``nav2_params.yaml`` file for all nodes that involve Twist subscriptions or publications.
+See the configuration guide for more information on how to configure this parameter for each node.
+
+An example simulation migration using Gazebo can be seen in the `following pull request for the Turtlebot 3 and 4 <https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation/pull/16>`_.
+
+
 New Nav2 Loopback Simulator
 ***************************
 

diff --git a/tutorials/docs/using_collision_monitor.rst b/tutorials/docs/using_collision_monitor.rst
@@ -87,7 +87,7 @@ The whole ``nav2_collision_monitor/params/collision_monitor_params.yaml`` file i
         transform_tolerance: 0.5
         source_timeout: 5.0
         stop_pub_timeout: 2.0
-        enable_stamped_cmd_vel: False
+        enable_stamped_cmd_vel: True # False for Jazzy or older by default
         polygons: ["PolygonStop", "PolygonSlow"]
         PolygonStop:
           type: "polygon"