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2021summerOfCode/Summer_2021_Student_Program.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/assisted_teleop.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_configuration_assistant.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_plugins.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/dynamic.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/grid_maps.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/localization.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/multithreading.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/navigation_rebranding.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/safety_node.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/semantics.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/spinners.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/testing.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/twist_n_config.html

@@ -928,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

_sources/configuration/packages/collision_monitor/configuring-collision-detector-node.rst.txt

@@ -75,7 +75,7 @@ Parameters
   ============== =============================
 
   Description:
-    Maximum time interval in which source data is considered as valid.
+    Maximum time interval in which source data is considered as valid. If no new data is received within this interval, an additional warning will be displayed. Setting ``source_timeout: 0.0`` disables it. This parameter can be overriden per observation source.
 
 :base_shift_correction:
 
@@ -285,6 +285,17 @@ Observation sources parameters
 
   Description:
     Whether to use this source for collision detection. (Can be dynamically set)
+
+:``<source name>``.source_timeout:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         (node parameter ``source_timeout`` value)
+  ============== =============================
+
+  Description:
+    Maximum time interval in which source data is considered as valid. If no new data is received within this interval, an additional warning will be displayed. Setting ``source_timeout: 0.0`` disables it. Overrides node parameter for each source individually, if desired.
 
 Example
 *******
@@ -310,6 +321,7 @@ Here is an example of configuration YAML for the Collision Detector.
           polygon_pub_topic: "polygon_front"
         observation_sources: ["scan"]
         scan:
+          source_timeout: 0.2
           type: "scan"
           topic: "scan"
           enabled: True

_sources/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst.txt

@@ -136,7 +136,7 @@ Parameters
   ============== =============================
 
   Description:
-    Maximum time interval in which source data is considered as valid.
+    Maximum time interval in which source data is considered as valid. If no new data is received within this interval, the robot will be stopped. Setting ``source_timeout: 0.0`` disables this blocking mechanism. This parameter can be overriden per observation source.
 
 :base_shift_correction:
 
@@ -423,6 +423,17 @@ Observation sources parameters
 
   Description:
     Whether to use this source for collision monitoring. (Can be dynamically set)
+
+:``<source name>``.source_timeout:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         (node parameter ``source_timeout`` value)
+  ============== =============================
+
+  Description:
+    Maximum time interval in which source data is considered as valid. If no new data is received within this interval, the robot will be stopped. Setting ``source_timeout: 0.0`` disables this blocking mechanism. Overrides node parameter for each source individually, if desired.
 
 
 Example
@@ -482,6 +493,7 @@ Here is an example of configuration YAML for the Collision Monitor.
           enabled: True
         observation_sources: ["scan", "pointcloud"]
         scan:
+          source_timeout: 0.2
           type: "scan"
           topic: "/scan"
           enabled: True

_sources/migration/Iron.rst.txt

@@ -134,3 +134,12 @@ Subtrees Obtain Shared Resources
 ********************************
 
 `PR #3911 <https://github.com/ros-planning/navigation2/pull/3911>`_ gives all sub-trees in BT.CPP the same shared resources as the main tree (node, shared timeouts, etc).
+
+Collision Monitor: added watchdog mechanism based on ``source_timeout`` parameter with default blocking behavior
+****************************************************************************************************************
+
+`PR #3880 <https://github.com/ros-planning/navigation2/pull/3880>`_ adds a watchdog mechanism that stops the robot if a source data is not published yet, or if no new data is received within the `source_timeout`` parameter, or if impossible to transform data to base frame. ``source_timeout`` parameter can now be set per source: if ``source_timeout`` is not set for a source, the value of the node ``source_timeout`` parameter is used.
+
+Additionally, this watchdog mechanism can be disabled by setting ``source_timeout: 0.0``.
+
+

about/index.html

@@ -930,6 +930,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>

about/related_projects.html

@@ -930,6 +930,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#change-duration-type-in-wait-action-node">Change duration type in wait_action node</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available">The costmap activation fails when required transforms are not available</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#subtrees-obtain-shared-resources">Subtrees Obtain Shared Resources</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior">Collision Monitor: added watchdog mechanism based on <code class="docutils literal notranslate"><span class="pre">source_timeout</span></code> parameter with default blocking behavior</a></li>
 </ul>
 </li>
 </ul>