From ed4adcc42e875ddb518b956e3a1fb62cd9d7f9ec Mon Sep 17 00:00:00 2001
From: Tony Najjar <tony.najjar@logivations.com>
Date: Mon, 16 May 2022 19:52:30 +0200
Subject: [PATCH] added docs

---
 .../bt-plugins/actions/NavigateThroughPoses.rst    | 14 +++++++++++++-
 .../packages/bt-plugins/actions/NavigateToPose.rst | 14 +++++++++++++-
 2 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst
index 4d318f999a..ab3a4c0800 100644
--- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst
+++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst
@@ -43,9 +43,21 @@ Input Ports
   Description
     	Action server timeout (ms).
 
+:behavior_tree:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string N/A  
+  ====== =======
+
+  Description
+    	Behavior tree absolute path. If none is specified, NavigateThroughPoses action server uses a default behavior tree.
+
 Example
 -------
 
 .. code-block:: xml
 
-  <NavigateThroughPoses goals="{goals}" server_name="NavigateThroughPoses" server_timeout="10"/>
+  <NavigateThroughPoses goals="{goals}" server_name="NavigateThroughPoses" server_timeout="10" 
+                        behavior_tree="<some-path>/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml"/>
diff --git a/configuration/packages/bt-plugins/actions/NavigateToPose.rst b/configuration/packages/bt-plugins/actions/NavigateToPose.rst
index e3cea9ca9a..1eb606865c 100644
--- a/configuration/packages/bt-plugins/actions/NavigateToPose.rst
+++ b/configuration/packages/bt-plugins/actions/NavigateToPose.rst
@@ -43,9 +43,21 @@ Input Ports
   Description
     	Action server timeout (ms).
 
+:behavior_tree:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string N/A  
+  ====== =======
+
+  Description
+    	Behavior tree absolute path. If none is specified, NavigateToPose action server uses a default behavior tree.
+
 Example
 -------
 
 .. code-block:: xml
 
-  <NavigateToPose goal="{goal}" server_name="NavigateToPose" server_timeout="10"/>
+  <NavigateToPose goal="{goal}" server_name="NavigateToPose" server_timeout="10" 
+                  behavior_tree="<some-path>/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml"/>