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Updated foxy.rst to note backup interface changes #60

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SteveMacenski merged 1 commit into from
Aug 5, 2020
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Updated foxy.rst to note backup interface changes #60

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12 changes: 12 additions & 0 deletions migration/Foxy.rst
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Expand Up @@ -11,3 +11,15 @@ 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.

BackUp BT-node Interface Changes
********************************

The ``backup_dist`` and ``backup_speed`` input ports should both be positive values indicating the distance to go backward respectively the speed with which the robot drives backward.

BackUp Recovery Interface Changes
*********************************

``speed`` in a backup recovery goal should be positive indicating the speed with which to drive backward.
``target.x`` in a backup recovery goal should be positive indicating the distance to drive backward.
In both cases negative values are silently inverted.