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2021summerOfCode/Summer_2021_Student_Program.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/assisted_teleop.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_configuration_assistant.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/create_plugins.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/dynamic.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/grid_maps.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/localization.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/multithreading.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/navigation_rebranding.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/safety_node.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/semantics.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/spinners.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/testing.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

2021summerOfCode/projects/twist_n_config.html

@@ -1114,6 +1114,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

_sources/configuration/packages/configuring-rotation-shim-controller.rst.txt

@@ -129,6 +129,17 @@ Rotation Shim Controller Parameters
   Description
     If true, the rotationShimController will only rotate to heading once on a new goal, not each time a path is set.
 
+:closed_loop:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  bool           true
+  ============== =============================
+
+  Description
+    If false, the rotationShimController will use the last commanded velocity as the next iteration's current velocity. When acceleration limits are set appropriately and the robot's controllers are responsive, this can be a good assumption. If true, it will use odometry to estimate the robot's current speed. In this case it is important that the source is high-rate and low-latency to account for control delay.
+
 Example
 *******
 .. code-block:: yaml

_sources/migration/Jazzy.rst.txt

@@ -283,3 +283,12 @@ A demo can be seen below with the following parameters:
   :width: 800
   :alt: Rotation Shim Deceleration
   :align: center
+
+Rotation Shim Open-loop Control
+*******************************
+
+The parameter ``closed_loop`` was introduced to the Rotation Shim Controller to allow users to choose between open-loop and closed-loop control. If false, the rotationShimController will use the last commanded velocity as the next iteration's current velocity. When acceleration limits are set appropriately and the robot's controllers are responsive, this can be a good assumption. If true, it will use odometry to estimate the robot's current speed. In this case it is important that the source is high-rate and low-latency to account for control delay.
+
+Default value:
+
+- true

about/index.html

@@ -1116,6 +1116,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

about/related_projects.html

@@ -1115,6 +1115,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

about/robots.html

@@ -1116,6 +1116,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

about/roscon.html

@@ -1116,6 +1116,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>

behavior_trees/index.html

@@ -1116,6 +1116,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#mppi-controller-re-implemented-using-eigen-library-and-performance-improved-by-40-45">MPPI controller re-implemented using Eigen library and performance improved by 40-45%</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#driveonheading-and-backup-behaviors-addition-of-acceleration-constraints">DriveOnHeading and BackUp behaviors: Addition of acceleration constraints</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-deceleration-as-a-function-of-its-target-orientation">Rotation Shim Deceleration as a function of its target orientation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#rotation-shim-open-loop-control">Rotation Shim Open-loop Control</a></li>
 </ul>
 </li>
 </ul>