docs for changes to behavior server

configuration/packages/configuring-behavior-server.rst

@@ -16,7 +16,7 @@ Note: pre-Rolling/Humble this was the Recovery server, not behavior server. Laun
 Behavior Server Parameters
 **************************
 
-:costmap_topic:
+:local_costmap_topic:
 
   ============== ===========================
   Type           Default
@@ -25,9 +25,20 @@ Behavior Server Parameters
   ============== ===========================
 
   Description
-    Raw costmap topic for collision checking.
+    Raw costmap topic for collision checking on the local costmap.
 
-:footprint_topic:
+:global_costmap_topic:
+
+  ============== ===========================
+  Type           Default
+  -------------- ---------------------------
+  string         "global_costmap/costmap_raw"
+  ============== ===========================
+
+  Description
+    Raw costmap topic for collision checking on the global costmap.
+
+:local_footprint_topic:
 
   ============== ===================================
   Type           Default
@@ -36,7 +47,18 @@ Behavior Server Parameters
   ============== ===================================
 
   Description
-    Topic for footprint in the costmap frame.
+    Topic for footprint in the local costmap frame.
+
+:global_footprint_topic:
+
+  ============== ===================================
+  Type           Default
+  -------------- -----------------------------------
+  string         "global_costmap/published_footprint"
+  ============== ===================================
+
+  Description
+    Topic for footprint in the global costmap frame.
 
 :cycle_frequency:
 
@@ -60,7 +82,7 @@ Behavior Server Parameters
   Description
     TF transform tolerance.
 
-:global_frame:
+:local_frame:
 
   ============== =============================
   Type           Default
@@ -69,7 +91,18 @@ Behavior Server Parameters
   ============== =============================
 
   Description
-    Reference frame.
+    Local reference frame.
+
+:global_frame:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         "map"
+  ============== =============================
+
+  Description
+    Global reference frame.
 
 :robot_base_frame:
 
@@ -100,7 +133,7 @@ Behavior Server Parameters
 
     .. code-block:: yaml
 
-        recoveries_server:
+        behavior_server:
           ros__parameters:
             behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
             spin:
@@ -253,10 +286,12 @@ Example
 *******
 .. code-block:: yaml
 
-    recoveries_server:
+    behavior_server:
       ros__parameters:
-        costmap_topic: local_costmap/costmap_raw
-        footprint_topic: local_costmap/published_footprint
+        local_costmap_topic: local_costmap/costmap_raw
+        local_footprint_topic: local_costmap/published_footprint
+        global_costmap_topic: global_costmap/costmap_raw
+        global_footprint_topic: global_costmap/published_footprint
         cycle_frequency: 10.0
         behavior_plugins: ["spin", "backup", "drive_on_heading", "wait", "assisted_teleop"]
         spin:
@@ -269,7 +304,8 @@ Example
           plugin: "nav2_behaviors/Wait"
         assisted_teleop:
           plugin: "nav2_behaviors/AssistedTeleop"
-        global_frame: odom
+        local_frame: odom
+        global_frame: map
         robot_base_frame: base_link
         transform_timeout: 0.1
         simulate_ahead_time: 2.0

migration/Humble.rst

@@ -107,6 +107,16 @@ SmootherSelector BT Node
 ************************
 `PR #3283 <https://github.com/ros-planning/navigation2/pull/3283>`_ adds a BT node to set the smoother based on a topic or a default. See the configuration guide :ref:`SimpleSmoother` for more details. 
 
+
 Publish Costmap Layers 
 **********************
-`PR #3320 <https://github.com/ros-planning/navigation2/pull/3320>`_ adds the ability for the nav2_costmap_2d package to publish out costmap data associated with each layer.
+`PR #3320 <https://github.com/ros-planning/navigation2/pull/3320>`_ adds the ability for the nav2_costmap_2d package to publish out costmap data associated with each layer.
+
+Give Behavior Server Access to Both Costmaps
+********************************************
+`PR #3255 <https://github.com/ros-planning/navigation2/pull/3255>`_ addes the ability for a behavior to access the local and global costmap. 
+
+To update behaviors, any reference to the global_frame must be updated to the local_frame parameter
+along with the ``configuration`` method which now takes in the local and global collision checkers.
+Lastly, ``getResourceInfo`` must be overriden to return ``CostmapInfoType::LOCAL``. Other options include ``GLOBAL``if the behavior useses global costmap and/or footprint)
+or ``BOTH`` if both are required. This allows us to only create and maintain the minimum amount of expensive resources.   

plugin_tutorials/docs/writing_new_behavior_plugin.rst

@@ -223,13 +223,15 @@ To enable the plugin, we need to modify the ``nav2_params.yaml`` file as below t
 
 with
 
-.. code-block:: text
+.. code-block:: yaml
 
   behavior_server: (Humble and newer)
   recoveries_server: (Galactic and earlier)
     ros__parameters:
-      costmap_topic: local_costmap/costmap_raw
-      footprint_topic: local_costmap/published_footprint
+      local_costmap_topic: local_costmap/costmap_raw
+      local_footprint_topic: local_costmap/published_footprint
+      global_costmap_topic: global_costmap/costmap_raw
+      global_footprint_topic: global_costmap/published_footprint
       cycle_frequency: 10.0
       behavior_plugins: ["spin", "backup", "wait","send_sms"] (Humble and newer)
       recovery_plugins: ["spin", "backup", "wait","send_sms"] (Galactic and earlier)