Standardize time units per REP-103 (#120)

Author: simutisernestas

configuration/packages/configuring-lifecycle.rst

@@ -37,16 +37,16 @@ Parameters
   Description
     Whether to transition nodes to active state on startup.
 
-:bond_timeout_ms:
+:bond_timeout:
 
   ==== =======
   Type Default                                                   
   ---- -------
-  int  4000   
+  int  4.0   
   ==== =======
 
   Description
-    Timeout to transition down all lifecycle nodes of this manager if a server is non-responsive, in ms. Set to ``0`` to deactivate. Recommended to be always larger than 300ms for all-local node discovery. Note: if a server cleanly exits the manager will immediately be notified.
+    Timeout to transition down all lifecycle nodes of this manager if a server is non-responsive, in seconds. Set to ``0`` to deactivate. Recommended to be always larger than 0.3s for all-local node discovery. Note: if a server cleanly exits the manager will immediately be notified.
 
 Example
 *******
@@ -56,4 +56,4 @@ Example
       ros__parameters:
         autostart: true
         node_names: ['controller_server', 'planner_server', 'recoveries_server', 'bt_navigator', 'waypoint_follower']
-        bond_timeout_ms: 4000
+        bond_timeout: 4.0

configuration/packages/configuring-map-server.rst

@@ -18,11 +18,11 @@ Map Saver Parameters
   ============== =======
   Type           Default
   -------------- -------
-  int            2000   
+  int            2.0   
   ============== =======
 
   Description
-    Timeout to attempt saving the map (ms).
+    Timeout to attempt saving the map (seconds).
 
 :free_thresh_default:
 
@@ -158,7 +158,7 @@ Example
 
     map_saver:
       ros__parameters:
-        save_map_timeout: 5000
+        save_map_timeout: 5.0
         free_thresh_default: 0.25
         occupied_thresh_default: 0.65
 

configuration/packages/configuring-smac-planner.rst

@@ -87,16 +87,16 @@ Parameters
   Description
     Maximum number of iterations after the search is within tolerance before returning approximate path with best heuristic if exact path not found.
 
-:``<name>``.max_planning_time_ms:
+:``<name>``.max_planning_time:
 
   ====== =======
   Type   Default                                                   
   ------ -------
-  double  5000.0            
+  double  5.0            
   ====== =======
 
   Description
-    Maximum planning time in ms.
+    Maximum planning time in seconds.
 
 :``<name>``.analytic_expansion_ratio:
 
@@ -261,7 +261,7 @@ Parameters
   ====== =======
 
   Description
-    Maximum time spent smoothing, in seconds. If planning takes too long, this can be dynamically adjusted to ensure the planner meets ``max_planning_time_ms``.
+    Maximum time spent smoothing, in seconds. If planning takes too long, this can be dynamically adjusted to ensure the planner meets ``max_planning_time``.
 
 :``<name>``.smoother.optimizer.max_iterations:
 
@@ -390,7 +390,7 @@ Example
           allow_unknown: false              # allow traveling in unknown space
           max_iterations: -1                # maximum total iterations to search for before failing
           max_on_approach_iterations: 1000  # maximum number of iterations to attempt to reach goal once in tolerance, 2D only
-          max_planning_time_ms: 2000.0      # max time in ms for planner to plan, smooth, and upsample. Will scale maximum smoothing and upsampling times based on remaining time after planning.
+          max_planning_time: 2.0            # max time in seconds for planner to plan, smooth, and upsample. Will scale maximum smoothing and upsampling times based on remaining time after planning.
           smooth_path: false                # Whether to smooth searched path
           motion_model_for_search: "DUBIN"  # 2D Moore, Von Neumann; SE2 Dubin, Redds-Shepp
           angle_quantization_bins: 72       # For SE2 node: Number of angle bins for search, must be 1 for 2D node (no angle search)

migration/Foxy.rst

@@ -88,4 +88,15 @@ Costmap2D ``current_`` Usage
 
 In costmap2D, ``current_`` was used in ROS1 to represent whether a costmap layer was still enabled and actively processing data. It would be turned to ``false`` only under the situation that the expected update rate of a sensor was not met, so it was getting stale or no messages. It acts as a fail-safe for if a navigation sensor stops publishing.
 
-In galactic, that will remain turn, however it will also add additional capabilities. It is also now set to ``false`` when a costmap is reset due to clearing or other navigation recoveries. That stops the robot from creating a plan or control effort until after the costmap has been updated at least once after a reset. This enables us to make sure we cannot ever create a path or control with a completely empty costmap, potentially leading to collisions, due to clearing the costmap and then immediately requesting an algorithm to run.
+In galactic, that will remain turn, however it will also add additional capabilities. It is also now set to ``false`` when a costmap is reset due to clearing or other navigation recoveries. That stops the robot from creating a plan or control effort until after the costmap has been updated at least once after a reset. This enables us to make sure we cannot ever create a path or control with a completely empty costmap, potentially leading to collisions, due to clearing the costmap and then immediately requesting an algorithm to run.
+
+Standard time units in parameters
+*********************************
+To follow the SI units outlined in REP-103 to the "T" nodes below were modified to use seconds consistently in every parameter. Under each node name you can see which parameters changed to seconds instead of using milliseconds.
+
+- lifecycle manager 
+ - ``bond_timeout_ms`` became ``bond_timeout`` in seconds
+- smac planner
+ - ``max_planning_time_ms`` became ``max_planning_time`` in seconds
+- map saver
+ - ``save_map_timeout`` in seconds