Skip to content

fix wrong units & improve explanation for subTree migration #867

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 3 commits into from
Feb 10, 2026
Merged

fix wrong units & improve explanation for subTree migration #867

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
b435b84
fix wrong units
adivardi Feb 9, 2026
13bd62b
Clearer explanation
adivardi Feb 9, 2026
2e284ba
rm some line breaks
adivardi Feb 10, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions configuration/packages/configuring-bt-navigator.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,7 @@ Parameters
==== =======

Description
Default timeout value (in milliseconds) while a BT action node is waiting for acknowledgement from an action server.
Default timeout value (in milliseconds) for a BT action node to wait for acknowledgement from an action server.
This value will be overwritten for a BT node if the input port "server_timeout" is provided.

:default_cancel_timeout:
Expand All @@ -122,7 +122,7 @@ Parameters
==== =======

Description
Default timeout (in seconds) for BT action node cancellation requests during node halt.
Default timeout (in milliseconds) for BT action node cancellation requests during node halt.
This value will be overwritten for a BT node if the input port "cancel_timeout" is provided.

:wait_for_service_timeout:
Expand All @@ -134,7 +134,7 @@ Parameters
==== =======

Description
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)``).
Default timeout value (in milliseconds) for an Action or Service BT nodes to wait 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.

:introspection_mode:
Expand Down Expand Up @@ -257,7 +257,7 @@ Parameters
============== ==================================================

Description
List of directories that hosts behavior trees XML files. It is needed to register all behavior trees as well as subtrees.
List of directories that hosts behavior trees XML files. Used to register all behavior trees and subtrees.

NavigateToPose Parameters
*************************
Expand Down
10 changes: 6 additions & 4 deletions migration/Kilted.rst
View file
Open in desktop
Copy link
Member

@SteveMacenski SteveMacenski Feb 9, 2026

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Can you remove the 2x spaces between lines? that makes each its own paragraph which is unnecessarily long.

But otherwise LGTM, no edits to wording

Copy link
Contributor Author

@adivardi adivardi Feb 10, 2026 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

done.
I left one to separate between the 2 topics of new search directory and unique IDs.

Original file line number Diff line number Diff line change
Expand Up @@ -361,10 +361,12 @@ See also :ref:`configuring_bt_navigator`
Add BehaviorTree SubTrees Support
---------------------------------

The BehaviorTree engine now supports SubTrees in different files within directory(s) set through ``bt_search_directories`` parameter. This allows you to modularize your behavior trees into smaller components that can be reused across different trees.
The interface now supports passing the behavior tree file or ID as input to the `loadBehaviorTree` method of the BT action server.
Each behavior tree is now strictly required to have its own unique ID, therefore the need to replace `MainTre` to a unique ID. For example, in `navigate_through_poses_w_replanning_and_recovery.xml
` `MainTree` can be replaced with `NavigateThroughPosesWReplanningAndRecovery`.
The BehaviorTree engine now supports loading SubTrees from multiple files.
This allows you to modularize your behavior trees into smaller components that can be reused across different trees.
The .xml files should be located within directory(s) set through the ``bt_search_directories`` parameter.

The interface also supports requesting the desired behavior tree as a filepath or as an ID.
To use the ID or multiple SubTrees features, each behavior tree is required to have its own unique ID - replace `MainTree` with a unique ID.

Option to have custom window size and poly order in Savitsky-Golay Smoother
---------------------------------------------------------------------------
Expand Down
Loading