From 72901a0848261d9dcedb3deb14c93fb8a74a13fa Mon Sep 17 00:00:00 2001 From: Rein Appeldoorn Date: Fri, 20 Sep 2024 21:11:57 +0200 Subject: [PATCH] doc(controller-server): publish_zero_velocity parameter (#593) --- .../packages/configuring-controller-server.rst | 11 +++++++++++ migration/Jazzy.rst | 8 ++++++++ 2 files changed, 19 insertions(+) diff --git a/configuration/packages/configuring-controller-server.rst b/configuration/packages/configuring-controller-server.rst index ede299531..f4fa0d4fc 100644 --- a/configuration/packages/configuring-controller-server.rst +++ b/configuration/packages/configuring-controller-server.rst @@ -36,6 +36,17 @@ Parameters Description Adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller's execution thread to a higher priority than the rest of the system (``90``) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions: `` soft rtprio 99 hard rtprio 99`` +:publish_zero_velocity: + + ============== ======= + Type Default + -------------- ------- + bool true + ============== ======= + + Description + Whether to publish a zero velocity command on goal exit. This is useful for stopping the robot when a goal terminates. + :action_server_result_timeout: ====== ======= ======= diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index 42e4f9c12..978a3fa68 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -91,3 +91,11 @@ Default value: - false +Option to disable zero velocity publishing on goal exit +******************************************************* + +In `PR #4675 `_ a ``publish_zero_velocity`` parameter was introduced for the `Controller server `_ in order to disable zero velocity publishing on goal exit. + +Default value: + +- true