Update GoalUpdater docs (#621)

* Update GoalUpdater docs Signed-off-by: Tony Najjar <[email protected]> * Update GoalUpdater.rst Signed-off-by: Tony Najjar <[email protected]> * add migration guide Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]>
ros-navigation · Jan 14, 2025 · 90c2e60 · 90c2e60
1 parent d9302ff
commit 90c2e60
Show file tree

Hide file tree

Showing 2 changed files with 41 additions and 4 deletions.
diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdater.rst b/configuration/packages/bt-plugins/decorators/GoalUpdater.rst
@@ -3,7 +3,7 @@
 GoalUpdater
 ===========
 
-A custom control node, which updates the goal pose. It subscribes to a topic in which it can receive an updated goal pose to use instead of the one commanded in action. It is useful for dynamic object following tasks.
+A custom control node, which updates the goal(s) pose(s). It subscribes to a topic in which it can receive (an) updated goal(s) pose(s) to use instead of the one(s) commanded in action. It is useful for dynamic object following tasks.
 
 Parameters
 ----------
@@ -19,6 +19,17 @@ Parameters
   Description
       The topic to receive the updated goal pose
 
+:goals_updater_topic:
+
+  ====== ===============
+  Type   Default
+  ------ ---------------
+  string  "goals_update"
+  ====== ===============
+
+  Description
+      The topic to receive the updated goals poses
+
 Input Ports
 -----------
 
@@ -33,6 +44,17 @@ Input Ports
   Description
       The original goal pose
 
+:input_goals:
+
+  ============================== =======
+  Type                           Default
+  ------------------------------ -------
+  geometry_msgs/PoseStampedArray   N/A
+  ============================== =======
+
+  Description
+      The original goals poses
+
 :output_goal:
 
   ========================= =======
@@ -44,11 +66,22 @@ Input Ports
   Description
     	The resulting updated goal. If no goal received by subscription, it will be the input_goal
 
+:output_goals:
+
+    ============================== =======
+    Type                           Default
+    ------------------------------ -------
+    geometry_msgs/PoseStampedArray   N/A
+    ============================== =======
+
+    Description
+      	The resulting updated goals. If no goals received by subscription, it will be the input_goals
+
 Example
 -------
 
 .. code-block:: xml
 
-  <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
+  <GoalUpdater input_goal="{goal}" input_goals="{goals}" output_goal="{goal}" output_goals="{goals}">
     <!--Add tree components here--->
   </GoalUpdater>
diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst
@@ -51,15 +51,19 @@ Here we can see the working demo of the plugin:
 
 .. attention:: If the docking server is unavailable, then the combo box of the dock type will be empty.
 
-New BT Nodes
-************
+BT Nodes Changes
+****************
 
 Below is a list of new BT Nodes added:
 
 - ``GetPoseFromPath``: An action to get a particular pose from an input path.
 - ``RemoveInCollisionGoals``: An action to remove waypoints that have a cost higher than a threshold.
 - ``IsStopped``: A condition to check if the robot is stopped for a certain duration.
 
+Below is a list of changes to existing BT Nodes:
+
+- ``GoalUpdater``: It now supports updating a list of goals as well (useful for NavigateThroughPoses interface)
+
 New RViz Tool for Costmap Cost Cell Inspection
 **********************************************