From 56b81c2f3582b99306c2f2267ccd8a35847775b3 Mon Sep 17 00:00:00 2001
From: Tony Najjar <tony.najjar.1997@gmail.com>
Date: Tue, 7 Jan 2025 14:02:33 +0100
Subject: [PATCH] Introduction of PoseStampedArray

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
---
 migration/Jazzy.rst | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst
index fef61808e..d455aa54e 100644
--- a/migration/Jazzy.rst
+++ b/migration/Jazzy.rst
@@ -1,9 +1,9 @@
 .. _jazzy_migration:
 
-Jazzy to K-Turtle
+Jazzy to Kilted
 #################
 
-Moving from ROS 2 Jazzy to K-Turtle, a number of stability improvements were added that we will not specifically address here.
+Moving from ROS 2 Jazzy to Kilted, a number of stability improvements were added that we will not specifically address here.
 
 TwistStamped Default CmdVel Change
 **********************************
@@ -198,4 +198,11 @@ This can be useful, for example, in cases where you want to move the robot even
 
 Default value:
 
-- false
\ No newline at end of file
+- false
+
+Introduction of PoseStampedArray
+********************************
+
+In `PR #262 <https://github.com/ros2/common_interfaces/pull/262>`_ a new message type `PoseStampedArray` was introduced to the `geometry_msgs` package.
+In `PR #4791 <https://github.com/ros-navigation/navigation2/pull/4791>`_, most instances of `std::vector<geometry_msgs::msg::PoseStamped>` have been replaced with `geometry_msgs::msg::PoseStampedArray`. Most notably, `NavigateThroughPoses.action` and `ComputePathThroughPoses.action` have been updated to use `PoseStampedArray`.
+Since `PoseStampedArray` contains a header, the poses are now accessed via `NavigateThroughPoses.poses.poses` instead of `NavigateThroughPoses.poses` or `ComputePathThroughPoses.goals.poses` instead of `ComputePathThroughPoses.poses`. Please update your code accordingly when using these interfaces.