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Enable goals to be sent in other frames than the pre-configured global_frame (documentation) #489

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Merged
SteveMacenski merged 1 commit into from
Nov 15, 2023
Merged

Enable goals to be sent in other frames than the pre-configured global_frame (documentation) #489

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11 changes: 0 additions & 11 deletions configuration/packages/bt-plugins/actions/RemovePassedGoals.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -20,17 +20,6 @@ Input Ports
Description
The radius (m) in proximity to the viapoint for the BT node to remove from the list as having passed.

:global_frame:

====== =======
Type Default
------ -------
string "map"
====== =======

Description
Reference frame.

:robot_base_frame:

====== ===========
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14 changes: 2 additions & 12 deletions configuration/packages/bt-plugins/conditions/GoalReached.rst
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Expand Up @@ -48,17 +48,7 @@ Input Ports

Description
Destination to check. Takes in a blackboard variable, e.g. "{goal}".

:global_frame:

====== =======
Type Default
------ -------
string "map"
====== =======

Description
Reference frame.
The global reference frame is taken from the goal's header `frame_id` field.

:robot_base_frame:

Expand All @@ -76,4 +66,4 @@ Example

.. code-block:: xml

<GoalReached goal="{goal}" global_frame="map" robot_base_frame="base_link"/>
<GoalReached goal="{goal}" robot_base_frame="base_link"/>