Rename service_introspection_mode to introspection_mode

configuration/packages/configuring-amcl.rst

@@ -368,7 +368,7 @@ 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:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -377,7 +377,7 @@ Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 :update_min_a:
 
@@ -523,7 +523,7 @@ Example
         alpha4: 0.2
         alpha5: 0.2
         base_frame_id: "base_footprint"
-        service_introspection_mode: "disabled"
+        introspection_mode: "disabled"
         beam_skip_distance: 0.5
         beam_skip_error_threshold: 0.9
         beam_skip_threshold: 0.3

configuration/packages/configuring-behavior-server.rst

@@ -115,7 +115,7 @@ Behavior Server Parameters
   Description
     Robot base frame.
 
-:service_introspection_mode:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -124,7 +124,7 @@ Behavior Server Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 :behavior_plugins:
 

configuration/packages/configuring-bt-navigator.rst

@@ -125,7 +125,7 @@ Parameters
     Default timeout value (in milliseconds) while Action or Service BT nodes will waiting for acknowledgement from an service or action server on BT initialization (e.g. ``wait_for_action_server(timeout)``).
     This value will be overwritten for a BT node if the input port "wait_for_service_timeout" is provided.
 
-:service_introspection_mode:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -134,7 +134,7 @@ Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 :transform_tolerance:
 
@@ -353,7 +353,7 @@ Example
         robot_base_frame: base_link
         transform_tolerance: 0.1
         filter_duration: 0.3
-        service_intropection_mode: "disabled"
+        introspection_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-controller-server.rst

@@ -226,7 +226,7 @@ Parameters
   Description
     The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
 
-:service_introspection_mode:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -235,7 +235,7 @@ Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 :allow_parameter_qos_overrides:
 

configuration/packages/configuring-costmaps.rst

@@ -24,7 +24,7 @@ Costmap2D ROS Parameters
   Description
     Whether to send full costmap every update, rather than updates.
 
-:service_introspection_mode:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -33,7 +33,7 @@ Costmap2D ROS Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 :allow_parameter_qos_overrides:
 
@@ -457,7 +457,7 @@ Example
             inflate_unknown: false
             inflate_around_unknown: true
           always_send_full_costmap: True
-          service_introspection_mode: "disabled"
+          introspection_mode: "disabled"
 
 
     local_costmap:
@@ -472,4 +472,4 @@ Example
           width: 3
           height: 3
           resolution: 0.05
-          service_introspection_mode: "disabled"
+          introspection_mode: "disabled"

configuration/packages/configuring-docking-server.rst

@@ -206,7 +206,7 @@ Parameters
   Description
     BT XML to use for Navigator, if non-default.
 
-:service_introspection_mode:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -215,7 +215,7 @@ Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 :allow_parameter_qos_overrides:
 
@@ -654,7 +654,7 @@ Example
         odom_topic: "odom"
         dock_backwards: false  # Deprecated, use dock_direction in plugin
         dock_prestaging_tolerance: 0.5
-        service_introspection_mode: "disabled"
+        introspection_mode: "disabled"
 
         # Types of docks
         dock_plugins: ['nova_carter_dock']

configuration/packages/configuring-lifecycle.rst

@@ -70,7 +70,7 @@ 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:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -79,7 +79,7 @@ Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 :allow_parameter_qos_overrides:
 
@@ -103,4 +103,4 @@ Example
         bond_timeout: 4.0
         attempt_respawn_reconnection: true
         bond_respawn_max_duration: 10.0
-        service_introspection_mode: "disabled"
+        introspection_mode: "disabled"

configuration/packages/configuring-map-server.rst

@@ -46,7 +46,7 @@ Map Saver Parameters
   Description
     Occupied space minimum probability threshold value for occupancy grid.
 
-:service_introspection_mode:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -55,7 +55,7 @@ Map Saver Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 Map Server Parameters
 *********************
@@ -93,7 +93,7 @@ Map Server Parameters
   Description
     Frame to publish loaded map in.
 
-:service_introspection_mode:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -102,7 +102,7 @@ Map Server Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 Costmap Filter Info Server Parameters
 *************************************
@@ -200,14 +200,14 @@ Example
         yaml_filename: "turtlebot3_world.yaml"
         topic_name: "map"
         frame_id: "map"
-        service_introspection_mode: "disabled"
+        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"
+        introspection_mode: "disabled"
 
     costmap_filter_info_server:
       ros__parameters:

configuration/packages/configuring-planner-server.rst

@@ -72,7 +72,7 @@ Parameters
   Description
     The timeout value (seconds) for the costmap to be fully updated before a planning request.
 
-:service_introspection_mode:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -81,7 +81,7 @@ Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 :allow_parameter_qos_overrides:
 
@@ -113,7 +113,7 @@ Example
       ros__parameters:
         expected_planner_frequency: 20.0
         costmap_update_timeout: 1.0
-        service_introspection_mode: "disabled"
+        introspection_mode: "disabled"
         planner_plugins: ['GridBased']
         GridBased:
           plugin: 'nav2_navfn_planner::NavfnPlanner' # In Iron and older versions, "/" was used instead of "::"

configuration/packages/configuring-route-server.rst

@@ -301,7 +301,7 @@ Server Parameters
   Description
     The plugin to load under that name. The ``edge_cost_functions.<name>`` namespaces is also where plugin-specific parameters are defined.
 
-:service_introspection_mode:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -310,7 +310,7 @@ Server Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 :allow_parameter_qos_overrides:
 

configuration/packages/configuring-smoother-server.rst

@@ -68,7 +68,7 @@ Smoother Server Parameters
   Description
     List of plugin names to use, also matches action server names.
 
-:service_introspection_mode:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -77,7 +77,7 @@ Smoother Server Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
   Note
     Each plugin namespace defined in this list needs to have a :code:`plugin` parameter defining the type of plugin to be loaded in the namespace.

configuration/packages/configuring-waypoint-follower.rst

@@ -49,7 +49,7 @@ 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:
+:introspection_mode:
 
   ============== =============================
   Type           Default
@@ -58,7 +58,7 @@ Parameters
   ============== =============================
 
   Description
-    The introspection mode for services. Options are "disabled", "metadata", "contents".
+    The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
 :bond_heartbeat_period:
 
@@ -139,7 +139,7 @@ Example
         loop_rate: 20
         stop_on_failure: false
         waypoint_task_executor_plugin: "wait_at_waypoint"
-        service_introspection_mode: "disabled"
+        introspection_mode: "disabled"
           wait_at_waypoint:
             plugin: "nav2_waypoint_follower::WaitAtWaypoint"
             enabled: True

migration/Kilted.rst

@@ -74,6 +74,7 @@ To:
 
 If migrating from the ``rclcpp::Client<T>`` factory, check out the ``nav2::ServiceClient<T>`` API for its features like ``invoke()`` which wraps the async call and spinning for results using the given node or another internal executor.
 You may optionally directly migrate by changing calls from ``async_send_request`` to ``async_call`` and otherwise handle the future in your application code.
+It now supports service introspection using the parameter ``introspection_mode``.
 
 Service Server Migration
 ^^^^^^^^^^^^^^^^^^^^^^^^
@@ -110,7 +111,7 @@ To
           std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));  // type nav2::ServiceServer<T>
 
 No additional changes should be required since the operations are handled in the same way as before.
-It now supports service introspection using the parameter ``service_introspection_mode``.
+It now supports service introspection using the parameter ``introspection_mode``.
 
 Action Server Migration
 ^^^^^^^^^^^^^^^^^^^^^^^
@@ -136,7 +137,7 @@ To
       nullptr, std::chrono::milliseconds(500), true);  // Type nav2::SimpleActionServer<T>
 
 No additional changes should be required since the operations are handled in the same way as before.
-It now supports action request, feedback, and result introspection using the parameter ``service_introspection_mode``.
+It now supports action request, feedback, and result introspection using the parameter ``introspection_mode``.
 
 Action Client Migration
 ^^^^^^^^^^^^^^^^^^^^^^^
@@ -161,7 +162,7 @@ To
       "navigate_to_pose", callback_group_);  // Type nav2::ActionClient<T>
 
 No additional changes should be required since the operations are handled in the same way as before.
-It now supports action request, feedback, and result introspection using the parameter ``service_introspection_mode``.
+It now supports action request, feedback, and result introspection using the parameter ``introspection_mode``.
 
 Publisher Subscriber Migration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^