From 1b7e257aed86674ffc4a159a52bc642b240fe761 Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Fri, 9 Feb 2024 17:21:06 +0100 Subject: [PATCH 1/2] Update the default ports Related to https://github.com/ros-planning/navigation2/pull/4060 --- .../conditions/GloballyUpdatedGoal.rst | 25 +++++++++++++++++ .../bt-plugins/conditions/GoalUpdated.rst | 27 ++++++++++++++++++- .../conditions/InitialPoseReceived.rst | 15 +++++++++++ .../bt-plugins/decorators/SpeedController.rst | 22 +++++++++++++++ 4 files changed, 88 insertions(+), 1 deletion(-) diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst index 8f9a03902d..023fcfbdfc 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 "{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..6b8018bd24 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 "{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..7b5806cf03 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..2ea3cc770c 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 "{goals}" + ============================================ ======== + + Description + Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified. + Example ------- From e97f5762e9fe318d8eafde27f55805c759345a6b Mon Sep 17 00:00:00 2001 From: Davide Faconti Date: Mon, 12 Feb 2024 13:12:28 +0100 Subject: [PATCH 2/2] fix tables --- .../bt-plugins/conditions/GloballyUpdatedGoal.rst | 12 ++++++------ .../packages/bt-plugins/conditions/GoalUpdated.rst | 12 ++++++------ .../bt-plugins/conditions/InitialPoseReceived.rst | 2 +- .../bt-plugins/decorators/SpeedController.rst | 12 ++++++------ 4 files changed, 19 insertions(+), 19 deletions(-) diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst index 023fcfbdfc..7b0ec4cb6a 100644 --- a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst +++ b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst @@ -14,22 +14,22 @@ 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 "{goals}" - ============================================ ======== + ============================================ ========= Description Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified. diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.rst b/configuration/packages/bt-plugins/conditions/GoalUpdated.rst index 6b8018bd24..6a19182fbc 100644 --- a/configuration/packages/bt-plugins/conditions/GoalUpdated.rst +++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.rst @@ -11,22 +11,22 @@ 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 "{goals}" - ============================================ ======== + ============================================ ========= Description Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified. diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst index 7b5806cf03..136a3d655f 100644 --- a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst +++ b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst @@ -10,7 +10,7 @@ Input Ports :initial_pose_received: - ===== ========================= + ===== ======================== Type Default ----- ------------------------- bool "{initial_pose_received}" diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.rst b/configuration/packages/bt-plugins/decorators/SpeedController.rst index 2ea3cc770c..9377cb7e0e 100644 --- a/configuration/packages/bt-plugins/decorators/SpeedController.rst +++ b/configuration/packages/bt-plugins/decorators/SpeedController.rst @@ -68,22 +68,22 @@ 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 "{goals}" - ============================================ ======== + ============================================ ========= Description Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.