From 24df475821f23bb28b7d1d082dbc66803ace4155 Mon Sep 17 00:00:00 2001
From: KuraZuzu <kurasawa@rt-net.jp>
Date: Fri, 29 Nov 2024 16:09:21 +0900
Subject: [PATCH 1/2] Update collision_monitor settings

---
 raspimouse_navigation/params/raspimouse.yaml | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/raspimouse_navigation/params/raspimouse.yaml b/raspimouse_navigation/params/raspimouse.yaml
index b2263c1b..eb73675a 100644
--- a/raspimouse_navigation/params/raspimouse.yaml
+++ b/raspimouse_navigation/params/raspimouse.yaml
@@ -217,15 +217,16 @@ behavior_server:
 collision_monitor:
   ros__parameters:
     enable_stamped_cmd_vel: True
-    transform_tolerance: 0.1
-    source_timeout: 5.0
-    stop_pub_timeout: 2.0
-    base_shift_correction: False
-    polygons: ["DummyPolygon"]
-    DummyPolygon:
-      type: "circle"
-      radius: 0.0  # valid range of dummy
-      action_type: "none"  # No action taken.
+    stop_pub_timeout: 1.0
+    polygons: ["SlowdownPolygon"]
+    SlowdownPolygon:
+      type: "polygon"
+      points: "[[0.1, 0.09], [0.1, -0.09], [-0.1, -0.09], [-0.1, 0.09]]"
+      action_type: "slowdown"
+      slowdown_ratio: 0.5  # 本来の速度の半分に制限
+      min_points: 10
+      visualize: True
+      polygon_pub_topic: "slowdown_polygon"
     observation_sources: ["scan"]
     scan:
       type: "scan"

From d7dbef5eb0494b1758b405b5e504d5fc829a9068 Mon Sep 17 00:00:00 2001
From: KuraZuzu <kurasawa@rt-net.jp>
Date: Fri, 29 Nov 2024 16:10:51 +0900
Subject: [PATCH 2/2] Add visiable settings

---
 raspimouse_navigation/rviz/nav2_view.rviz | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/raspimouse_navigation/rviz/nav2_view.rviz b/raspimouse_navigation/rviz/nav2_view.rviz
index 728f2931..b237f4d2 100644
--- a/raspimouse_navigation/rviz/nav2_view.rviz
+++ b/raspimouse_navigation/rviz/nav2_view.rviz
@@ -7,6 +7,7 @@ Panels:
         - /Global Options1
         - /TF1/Frames1
         - /TF1/Tree1
+        - /Polygon1
       Splitter Ratio: 0.5833333134651184
     Tree Height: 658
   - Class: rviz_common/Selection
@@ -413,6 +414,19 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /waypoints
       Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/Polygon
+      Color: 25; 255; 0
+      Enabled: true
+      Name: Polygon
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /slowdown_polygon
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48