Update NavigateToPose BT-node modification (Add Foxy.rst)

configuration/packages/bt-plugins/actions/NavigateToPose.rst

@@ -10,27 +10,16 @@ Invokes the NavigateToPose ROS 2 action server, which is implemented by the bt_n
 Input Ports
 -----------
 
-:position:
+:goal:
 
-  ====== =======
-  Type   Default
-  ------ -------
-  string N/A  
-  ====== =======
-
-  Description
-    	Takes in a blackboard variable containing the position, eg. "{position}".
-
-:orientation:
-
-  ====== =======
-  Type   Default
-  ------ -------
-  string N/A  
-  ====== =======
+  =========== =======
+  Type        Default
+  ----------- -------
+  PoseStamped N/A  
+  =========== =======
 
   Description
-    	Takes in a blackboard variable containing the orientation, eg. "{orientation}".
+    	Takes in a blackboard variable containing the goal, eg. "{goal}".
 
 :server_name:
 
@@ -59,4 +48,4 @@ Example
 
 .. code-block:: xml
 
-  <NavigateToPose position="{position}" orientation="{orientation}" server_name="NavigateToPose" server_timeout="10"/>
+  <NavigateToPose goal="{goal}" server_name="NavigateToPose" server_timeout="10"/>

migration/Foxy.rst

@@ -0,0 +1,13 @@
+.. _foxy_migration:
+
+Foxy to Galactic
+################
+
+Moving from ROS 2 Foxy to Galactic, a number of stability improvements were added that we will not specifically address here.
+
+NavigateToPose BT-node Interface Changes
+****************************************
+
+The NavigateToPose input port has been changed to PoseStamped instead of Point and Quaternion.
+
+See :ref:`bt_navigate_to_pose_action` for more information.

migration/index.rst

@@ -19,3 +19,4 @@ Navigation2 guides for migration between distributions.
 
    Dashing.rst
    Eloquent.rst
+   Foxy.rst