Add service introspection in configuration guide

configuration/packages/configuring-amcl.rst

@@ -368,6 +368,17 @@ Parameters
   Description
     Time with which to post-date the transform that is published, to indicate that this transform is valid into the future.
 
+:service_introspection_mode:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         "disabled"
+  ============== =============================
+
+  Description
+    The introspection mode for services. Options are "disabled", "metadata", "contents".
+
 :update_min_a:
 
   ============== =============================
@@ -501,6 +512,7 @@ Example
         alpha4: 0.2
         alpha5: 0.2
         base_frame_id: "base_footprint"
+        service_introspection_mode: "disabled"
         beam_skip_distance: 0.5
         beam_skip_error_threshold: 0.9
         beam_skip_threshold: 0.3

configuration/packages/configuring-bt-navigator.rst

@@ -139,6 +139,17 @@ Parameters
     some actions in Nav2 take to run. For most applications, this should not need to be adjusted as long as the actions within the server do not exceed this deadline.
     This issue has been raised with OSRF to find another solution to avoid active goal timeouts for bookkeeping, so this is a semi-temporary workaround
 
+:service_introspection_mode:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         "disabled"
+  ============== =============================
+
+  Description
+    The introspection mode for services. Options are "disabled", "metadata", "contents".
+
 :transform_tolerance:
 
   ====== ======= =======
@@ -282,6 +293,7 @@ Example
         robot_base_frame: base_link
         transform_tolerance: 0.1
         filter_duration: 0.3
+        service_intropection_mode: "disabled"
         default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
         default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml
         always_reload_bt_xml: false

configuration/packages/configuring-costmaps.rst

@@ -24,6 +24,17 @@ Costmap2D ROS Parameters
   Description
     Whether to send full costmap every update, rather than updates.
 
+:service_introspection_mode:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         "disabled"
+  ============== =============================
+
+  Description
+    The introspection mode for services. Options are "disabled", "metadata", "contents".
+
 :footprint_padding:
 
   ============== =======
@@ -435,6 +446,7 @@ Example
             inflate_unknown: false
             inflate_around_unknown: true
           always_send_full_costmap: True
+          service_introspection_mode: "disabled"
 
 
     local_costmap:
@@ -449,3 +461,4 @@ Example
           width: 3
           height: 3
           resolution: 0.05
+          service_introspection_mode: "disabled"

configuration/packages/configuring-docking-server.rst

@@ -184,6 +184,17 @@ Parameters
   Description
     BT XML to use for Navigator, if non-default.
 
+:service_introspection_mode:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         "disabled"
+  ============== =============================
+
+  Description
+    The introspection mode for services. Options are "disabled", "metadata", "contents".
+
 :controller.k_phi:
 
   ============== ==============
@@ -563,6 +574,7 @@ Example
         fixed_frame: "odom"
         dock_backwards: false
         dock_prestaging_tolerance: 0.5
+        service_introspection_mode: "disabled"
 
         # Types of docks
         dock_plugins: ['nova_carter_dock']

configuration/packages/configuring-lifecycle.rst

@@ -70,6 +70,17 @@ Parameters
   Description
     When a server crashes or becomes non-responsive, the lifecycle manager will bring down all nodes for safety. This is the duration of which the lifecycle manager will attempt to reconnect with the failed server(s) during to recover and re-activate the system. If this passes, it will stop attempts and will require a manual re-activation once the problem is manually resolved. Units: seconds.
 
+:service_introspection_mode:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         "disabled"
+  ============== =============================
+
+  Description
+    The introspection mode for services. Options are "disabled", "metadata", "contents".
+
 Example
 *******
 .. code-block:: yaml
@@ -81,3 +92,4 @@ Example
         bond_timeout: 4.0
         attempt_respawn_reconnection: true
         bond_respawn_max_duration: 10.0
+        service_introspection_mode: "disabled"

configuration/packages/configuring-map-server.rst

@@ -46,6 +46,17 @@ Map Saver Parameters
   Description
     Occupied space minimum probability threshold value for occupancy grid.
 
+:service_introspection_mode:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         "disabled"
+  ============== =============================
+
+  Description
+    The introspection mode for services. Options are "disabled", "metadata", "contents".
+
 Map Server Parameters
 *********************
 
@@ -82,6 +93,17 @@ Map Server Parameters
   Description
     Frame to publish loaded map in.
 
+:service_introspection_mode:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         "disabled"
+  ============== =============================
+
+  Description
+    The introspection mode for services. Options are "disabled", "metadata", "contents".
+
 Costmap Filter Info Server Parameters
 *************************************
 
@@ -167,12 +189,14 @@ Example
         yaml_filename: "turtlebot3_world.yaml"
         topic_name: "map"
         frame_id: "map"
+        service_introspection_mode: "disabled"
 
     map_saver:
       ros__parameters:
         save_map_timeout: 5.0
         free_thresh_default: 0.25
         occupied_thresh_default: 0.65
+        service_introspection_mode: "disabled"
 
     costmap_filter_info_server:
       ros__parameters:

configuration/packages/configuring-planner-server.rst

@@ -85,6 +85,16 @@ Parameters
 
   Description
     The timeout value (seconds) for the costmap to be fully updated before a planning request.
+:service_introspection_mode:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         "disabled"
+  ============== =============================
+
+  Description
+    The introspection mode for services. Options are "disabled", "metadata", "contents".
 
 Default Plugins
 ***************
@@ -105,6 +115,7 @@ Example
       ros__parameters:
         expected_planner_frequency: 20.0
         costmap_update_timeout: 1.0
+        service_introspection_mode: "disabled"
         planner_plugins: ['GridBased']
         GridBased:
           plugin: 'nav2_navfn_planner::NavfnPlanner' # In Iron and older versions, "/" was used instead of "::"

configuration/packages/configuring-waypoint-follower.rst

@@ -49,6 +49,17 @@ Parameters
     The name of the global coordinate frame published by robot_localization. Only used by the gps_waypoint_follower to
     convert GPS waypoints to this frame.
 
+:service_introspection_mode:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         "disabled"
+  ============== =============================
+
+  Description
+    The introspection mode for services. Options are "disabled", "metadata", "contents".
+
 :action_server_result_timeout:
 
   ====== ======= =======
@@ -131,6 +142,7 @@ Example
         loop_rate: 20
         stop_on_failure: false
         waypoint_task_executor_plugin: "wait_at_waypoint"
+        service_introspection_mode: "disabled"
           wait_at_waypoint:
             plugin: "nav2_waypoint_follower::WaitAtWaypoint"
             enabled: True

migration/Jazzy.rst

@@ -363,6 +363,15 @@ Default value:
 
 - 253
 
+Service introspection
+*********************
+
+In `PR #4955 <https://github.com/ros-navigation/navigation2/pull/4955>`_ the parameter ``service_introspection_mode`` was introduced to the `Nav2` stack to allow introspection of services. The options are "disabled", "metadata", "contents".
+
+Default value:
+
+- "disabled"
+
 Rotation Shim Using Path Orientations
 *************************************