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add collision detection parameter to graceful controller config #660

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Mar 25, 2025
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add collision detection parameter to graceful controller config #660

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11 changes: 11 additions & 0 deletions configuration/packages/configuring-graceful-motion-controller.rst
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Expand Up @@ -223,6 +223,17 @@ Graceful Controller Parameters
Description
When performing an in-place rotation after the XY goal tolerance has been met, this is the angle (in radians) between poses to check for collision.

:use_collision_detection:

============== =============================
Type Default
-------------- -----------------------------
bool true
============== =============================

Description
Whether to use collision detection to avoid obstacles.

Example
*******
.. code-block:: yaml
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