docs(jazzy): revert Following Server and Docking Server parameters

docs/configuration_and_development/configuration_guide/.nav.yml

@@ -27,4 +27,5 @@ nav:
   - Simple Smoother: smoother_plugins/configuring_simple_smoother.md
   - AMCL: others/configuring_amcl.md
   - Coverage Server: others/configuring_coverage_server.md
+  - Following Server: others/configuring_following_server.md
   - Loopback Simulator: others/configuring_loopback_sim.md

docs/configuration_and_development/configuration_guide/core_servers/configuring_docking_server.md

@@ -156,6 +156,18 @@ Type: `double` Default: `0.25`
 
 :   Radius to end goal to commense slow down.
 
+### **`controller.rotate_to_heading_angular_vel`**
+
+Type: `double` Default: `1.0`
+
+:   Angular velocity (rad/s) to rotate to the goal heading.
+
+### **`controller.rotate_to_heading_max_angular_accel`**
+
+Type: `double` Default: `3.2`
+
+:   Maximum angular acceleration (rad/s^2) to rotate to the goal heading.
+
 ### **`controller.use_collision_detection`**
 
 Type: `bool` Default: `true`

docs/configuration_and_development/configuration_guide/index.md

@@ -220,6 +220,13 @@ the best navigation performance.
 
     [:octicons-arrow-right-24: Go][coverage-server]
 
+- :material-target-account: **Following Server**
+
+    ---
+    Dynamic object following with tracking recovery.
+
+    [:octicons-arrow-right-24: Go][following-server]
+
 - :material-replay: **Loopback Simulator**
 
     ---

docs/configuration_and_development/configuration_guide/others/configuring_following_server.md

@@ -0,0 +1,152 @@
+# Following Server { #following-server }
+
+Source code on [Github](https://github.com/ros-navigation/navigation2/tree/jazzy/nav2_following/opennav_following).
+
+The Following Server in `opennav_following` implements a server for following dynamic objects from a detection topic or specific reference frame.
+This server allows the robot to follow and maintain a determined distance from a detected object or specific frame,
+using topic-based detection techniques or coordinate frame tracking.
+The server is designed to be called by a BT application or autonomy application to follow moving objects.
+
+<div class="video-container">
+  <iframe width="700" height="450" src="https://www.youtube.com/embed/g-g58J1g9Ww?playlist=g-g58J1g9Ww&autoplay=1&mute=1&loop=1" frameborder="1" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+</div>
+
+## Parameters
+
+### **`controller_frequency`**
+
+Type: `double` Default: `50.0`
+
+:   Control frequency (Hz) for the following control loop.
+
+### **`detection_timeout`**
+
+Type: `double` Default: `2.0`
+
+:   Timeout (s) to wait for detection of the object to follow.
+
+### **`rotate_to_object_timeout`**
+
+Type: `double` Default: `10.0`
+
+:   Timeout (s) to rotate searching for the object when detection is lost.
+
+### **`static_object_timeout`**
+
+Type: `double` Default: `-1.0`
+
+:   Timeout (s) to stop following when the object remains static. If `-1.0`, the robot will follow indefinitely.
+
+### **`linear_tolerance`**
+
+Type: `double` Default: `0.15`
+
+:   Linear tolerance (m) to consider that the target position has been reached.
+
+### **`angular_tolerance`**
+
+Type: `double` Default: `0.15`
+
+:   Angular tolerance (rad) to consider that the target orientation has been reached.
+
+### **`max_retries`**
+
+Type: `int` Default: `3`
+
+:   Maximum number of retries when detection or control fails.
+
+### **`base_frame`**
+
+Type: `string` Default: `"base_link"`
+
+:   Robot's base frame for control law.
+
+### **`fixed_frame`**
+
+Type: `string` Default: `"odom"`
+
+:   Fixed frame to use, recommended to be a smooth odometry frame **not** map.
+
+### **`filter_coef`**
+
+Type: `double` Default: `0.1`
+
+:   Filter coefficient for smoothing object pose detections.
+
+### **`desired_distance`**
+
+Type: `double` Default: `1.0`
+
+:   Desired distance (m) to maintain from the followed object.
+
+### **`skip_orientation`**
+
+Type: `bool` Default: `true`
+
+:   If `true`, ignore the detected object's orientation and point toward it from the robot's position.
+
+### **`search_by_rotating`**
+
+Type: `bool` Default: `false`
+
+:   If `true`, the robot will rotate in place when it loses object detection to try to find it again.
+
+### **`search_angle`**
+
+Type: `double` Default: `M_PI_2`
+
+:   Maximum angle (rad) to rotate when searching for the object.
+
+### **`odom_topic`**
+
+Type: `string` Default: `"odom"`
+
+:   Odometry topic to use for obtaining the robot's current velocity.
+
+### **`odom_duration`**
+
+Type: `double` Default: `0.3`
+
+:   Time (s) to buffer odometry commands to estimate the robot speed.
+
+### **`transform_tolerance`**
+
+Type: `double` Default: `0.1`
+
+:   Time with which to post-date the transform that is published, to indicate that this transform is valid into the future.
+
+## Example
+
+```yaml
+following_server:
+  ros__parameters:
+    controller_frequency: 50.0
+    detection_timeout: 2.0
+    rotate_to_object_timeout: 10.0
+    static_object_timeout: 30.0  # -1.0 for indefinite following
+    linear_tolerance: 0.15
+    angular_tolerance: 0.15
+    max_retries: 3
+    base_frame: "base_link"
+    fixed_frame: "odom"
+    filter_coef: 0.1
+    desired_distance: 1.0
+    skip_orientation: true
+    search_by_rotating: false
+    odom_topic: "odom"
+    odom_duration: 0.3
+    transform_tolerance: 0.1
+
+    # Controller configuration (inherited from docking controller)
+    controller:
+      k_phi: 3.0
+      k_delta: 2.0
+      beta: 0.4
+      lambda: 2.0
+      v_linear_min: 0.1
+      v_linear_max: 0.5
+      v_angular_max: 1.0
+      slowdown_radius: 0.15
+      use_collision_detection: false
+      transform_tolerance: 0.1
+```