diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst
index 8f9a03902d..7b0ec4cb6a 100644
--- a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst
+++ b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst
@@ -9,6 +9,31 @@ Returns failure if the goal is the same, if it changes, it returns success.
 This node differs from the GoalUpdated by retaining the state of the current goal/goals throughout each tick of the BehaviorTree
 such that it will update on any "global" change to the goal. 
 
+Input Ports
+-----------
+
+:goal:
+
+  =============================== ========
+  Type                            Default
+  ------------------------------- --------
+  geometry_msgs::msg::PoseStamped "{goal}"
+  =============================== ========
+
+  Description
+    	Destination to check. Takes in a blackboard variable, "{goal}" if not specified.
+
+:goals:
+
+  ============================================ =========
+  Type                                         Default
+  -------------------------------------------- ---------
+  std::vector<geometry_msgs::msg::PoseStamped> "{goals}"
+  ============================================ =========
+
+  Description
+    	Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.
+
 Example
 -------
 
diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.rst b/configuration/packages/bt-plugins/conditions/GoalUpdated.rst
index d14b3e8a06..6a19182fbc 100644
--- a/configuration/packages/bt-plugins/conditions/GoalUpdated.rst
+++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.rst
@@ -3,9 +3,34 @@
 GoalUpdated
 ===========
 
-Checks if the global navigation goal has changed in the blackboard. 
+Checks if the global navigation goal, or a vector of goals, has changed in the blackboard. 
 Returns failure if the goal is the same, if it changes, it returns success.
 
+Input Ports
+-----------
+
+:goal:
+
+  =============================== ========
+  Type                            Default
+  ------------------------------- --------
+  geometry_msgs::msg::PoseStamped "{goal}"
+  =============================== ========
+
+  Description
+    	Destination to check. Takes in a blackboard variable, "{goal}" if not specified.
+
+:goals:
+
+  ============================================ =========
+  Type                                         Default
+  -------------------------------------------- ---------
+  std::vector<geometry_msgs::msg::PoseStamped> "{goals}"
+  ============================================ =========
+
+  Description
+    	Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.
+
 Example
 -------
 
diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst
index fbea39fd51..136a3d655f 100644
--- a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst
+++ b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst
@@ -5,6 +5,21 @@ InitialPoseReceived
 
 Node that returns success when the initial pose is sent to AMCL via `/initial_pose``.
 
+Input Ports
+-----------
+
+:initial_pose_received:
+
+  =====  ========================
+  Type   Default
+  ----- -------------------------
+  bool  "{initial_pose_received}"
+  ===== =========================
+
+  Description
+    	Success if the value in the port is true. Takes in a blackboard variable,
+        "{initial_pose_received}" if not specified.
+
 Example
 -------
 
diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.rst b/configuration/packages/bt-plugins/decorators/SpeedController.rst
index 64018a4745..9377cb7e0e 100644
--- a/configuration/packages/bt-plugins/decorators/SpeedController.rst
+++ b/configuration/packages/bt-plugins/decorators/SpeedController.rst
@@ -66,6 +66,28 @@ Input Ports
   Description
       Duration (secs) over which robot velocity should be smoothed.
 
+:goal:
+
+  =============================== ========
+  Type                            Default
+  ------------------------------- --------
+  geometry_msgs::msg::PoseStamped "{goal}"
+  =============================== ========
+
+  Description
+    	Destination to check. Takes in a blackboard variable, "{goal}" if not specified.
+
+:goals:
+
+  ============================================ =========
+  Type                                         Default
+  -------------------------------------------- ---------
+  std::vector<geometry_msgs::msg::PoseStamped> "{goals}"
+  ============================================ =========
+
+  Description
+    	Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.
+
 Example
 -------