From cb88537ddc9a85220bda208c1adc19f2a1e19e82 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 20 Apr 2021 16:53:53 +0300
Subject: [PATCH] docs: add snippet for using aruco_detect/enabled dynamic
 parameter

---
 docs/en/snippets.md | 25 +++++++++++++++++++++++++
 docs/ru/snippets.md | 25 +++++++++++++++++++++++++
 2 files changed, 50 insertions(+)

diff --git a/docs/en/snippets.md b/docs/en/snippets.md
index 4772077b..b8fe6539 100644
--- a/docs/en/snippets.md
+++ b/docs/en/snippets.md
@@ -359,3 +359,28 @@ calibrate_gyro()
 ```
 
 > **Note** In process of calibration the drone should not be moved.
+
+<!-- markdownlint-disable MD044 -->
+
+### # {#aruco-detect-enabled}
+
+<!-- markdownlint-enable MD044 -->
+
+Enable and disable [ArUco markers recognition](aruco_marker.md) dynamically (for example, for saving CPU resources):
+
+```python
+import rospy
+import dynamic_reconfigure.client
+
+# ...
+
+client = dynamic_reconfigure.client.Client('aruco_detect')
+
+# Turn markers recognition off
+client.update_configuration({'enabled': False})
+
+rospy.sleep(5)
+
+# Turn markers recognition on
+client.update_configuration({'enabled': True})
+```
diff --git a/docs/ru/snippets.md b/docs/ru/snippets.md
index adaabe5d..af71488f 100644
--- a/docs/ru/snippets.md
+++ b/docs/ru/snippets.md
@@ -377,3 +377,28 @@ calibrate_gyro()
 ```
 
 > **Note** В процессе калибровки гироскопов дрон нельзя двигать.
+
+<!-- markdownlint-disable MD044 -->
+
+### # {#aruco-detect-enabled}
+
+<!-- markdownlint-enable MD044 -->
+
+Динамически включать и отключать [распознавание ArUco-маркеров](aruco_marker.md) (например, для экономии ресурсов процессора):
+
+```python
+import rospy
+import dynamic_reconfigure.client
+
+# ...
+
+client = dynamic_reconfigure.client.Client('aruco_detect')
+
+# Turn markers recognition off
+client.update_configuration({'enabled': False})
+
+rospy.sleep(5)
+
+# Turn markers recognition on
+client.update_configuration({'enabled': True})
+```