Update the default ports

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
 -------
 

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
 -------
 

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
 -------
 

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
 -------