[skip ci] publish latest

Signed-off-by: navigation2-ci <[email protected]>

2021summerOfCode/Summer_2021_Student_Program.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/assisted_teleop.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_configuration_assistant.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_plugins.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/dynamic.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/grid_maps.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/localization.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/multithreading.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/navigation_rebranding.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/safety_node.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/semantics.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/spinners.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/testing.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/twist_n_config.html

@@ -990,6 +990,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

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

@@ -243,7 +243,7 @@ Polygons parameters
   ============== =============================
 
   Description:
-    Topic to listen the polygon points from. Applicable only for ``polygon`` type and ``stop``/``slowdown``/``limit`` action types. Causes an error, if not specified **and** points are also not specified. If both ``points`` and ``polygon_sub_topic`` are specified, the static ``points`` takes priority.
+    For ``polygon`` type, topic to listen the polygon points from. For ``circle`` type, topic to listen the circle radius from. Applicable for ``stop``/``slowdown``/``limit`` action types. Causes an error if not specified **and** static polygon geometry (using parameter ``points`` for ``polygon`` type or ``radius`` for ``circle`` type) is also not specified. If both static polygon geometry and ``polygon_sub_topic`` are specified, the static parameter takes priority.
 
 :``<polygon_name>``.footprint_topic:
 
@@ -276,7 +276,7 @@ Polygons parameters
   ============== =============================
 
   Description:
-    Circle radius. Used for ``circle`` type. Causes an error, if not specialized.
+    Circle radius. Used for ``circle`` type. If not specified, the collision monitor will use dynamic polygon subscription to ``polygon_sub_topic`` for circle radius in the ``stop``/``slowdown``/``limit`` action types.
 
 :``<polygon_name>``.action_type:
 

_sources/migration/Iron.rst.txt

@@ -300,11 +300,13 @@ New collision monitor parameter
 
 `PR #4207 <https://github.com/ros-planning/navigation2/pull/4207>`_ introduces a new boolean parameter ``polygon_subscribe_transient_local`` (value is false by default), which set the QoS durability for polygon topic or footprint topic subscription.
 
+
 New graceful cancellation API for Controllers
 *********************************************
 
 `PR #4136 <https://github.com/ros-planning/navigation2/pull/4136>`_ introduces a new graceful cancellation API for controllers. Previously when a goal was canceled, the controller would stop the robot immediately. This API allows the controller to stop the robot in a more graceful way. The new API is implemented in the ``RegulatedPurePursuitController`` by adding a new parameter ``cancel_deceleration``. So when the goal is canceled, a constant deceleration will be used while continuing to track the path to stop the robot instead of stopping immediately. This API can be should be added to all controllers that have acceleration limits.
 
+
 Standardization of Plugin Naming with Double Colons (::)
 ********************************************************
 
@@ -315,3 +317,7 @@ Standardization of Plugin Naming with Double Colons (::)
 - Controller Server: ``nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController``, ``nav2_dwb_controller::DWBLocalPlanner``
 - BT Navigator: ``nav2_bt_navigator::NavigateToPoseNavigator``, ``nav2_bt_navigator::NavigateThroughPosesNavigator``
 
+
+Collision monitor: dynamic radius for circle type polygons
+**********************************************************
+`PR #4226 <https://github.com/ros-planning/navigation2/pull/4226>`_ introduces usage of parameter ``<polygon_name>.polygon_sub_topic`` for circle type polygons. If parameter ``<polygon_name>.radius`` is not set, collision monitor node subscribes to topic ``<polygon_name>.polygon_sub_topic`` (subscription type is ``std_msgs/msg/Float32``), and the current circle polygon radius will be updating accordingly to received messages on topic.

about/index.html

@@ -992,6 +992,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

about/related_projects.html

@@ -991,6 +991,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

about/robots.html

@@ -992,6 +992,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

behavior_trees/index.html

@@ -992,6 +992,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

behavior_trees/overview/detailed_behavior_tree_walkthrough.html

@@ -992,6 +992,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

behavior_trees/overview/nav2_specific_nodes.html

@@ -992,6 +992,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>

behavior_trees/trees/follow_point.html

@@ -992,6 +992,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-collision-monitor-parameter">New collision monitor parameter</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-cancellation-api-for-controllers">New graceful cancellation API for Controllers</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons">Standardization of Plugin Naming with Double Colons (::)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons">Collision monitor: dynamic radius for circle type polygons</a></li>
 </ul>
 </li>
 </ul>