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Update web with controller parameters - #11
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Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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🟡 Changes recommended
Two descriptions inaccurately characterize timeout frequency comparison and idle-command diagnostics.
Review effort: Balanced
Findings: 2
Open (2)
What changed in this PR
Documents new controller velocity safety, timeout, keepalive, diagnostics, and fault-injection behavior.
Changes:
- Explains stale-command handling and keepalive parameters.
- Requires timestamps on controller commands.
- Documents recovery integration through velocity diagnostics.
| File | Description |
|---|---|
developer_guide/recovery.rst |
Describes controller diagnostics consumed by recovery. |
developer_guide/design.rst |
Documents velocity robustness and parameters. |
developer_guide/blackboard.rst |
Updates the controller example with timestamps. |
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| writing the same one. It must be longer than the controller's period (``<controller>.rt_freq``), | ||
| or configuring fails. A controller plugin must therefore stamp each new command | ||
| (``header.stamp``). |
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| Besides its own evaluators, it sees the diagnostics other components write to NavState's | ||
| ``diagnostics`` group, e.g. ``ControllerNode``'s ``diagnostics.cmd_vel`` when no new velocity command | ||
| arrives or one is discarded (``hardware_id: controller_node``, see :ref:`velocity_output`). |
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Hi
Update of the controller parameters