diff --git a/doc/parameters/param_list.md b/doc/parameters/param_list.md
new file mode 100644
index 00000000000..9fb0204cbc0
--- /dev/null
+++ b/doc/parameters/param_list.md
@@ -0,0 +1,574 @@
+*NOTE: <> means plugin are namespaced by a name/id parameterization. The bracketed names may change due to your application configuration*
+
+# bt_navigator 
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| bt_xml_filename | N/A |  |
+| plugin_lib_names | ["nav2_compute_path_to_pose_action_bt_node", "nav2_follow_path_action_bt_node", "nav2_back_up_action_bt_node", "nav2_spin_action_bt_node", "nav2_wait_action_bt_node", "nav2_clear_costmap_service_bt_node", "nav2_is_stuck_condition_bt_node", "nav2_goal_reached_condition_bt_node", "nav2_initial_pose_received_condition_bt_node", "nav2_goal_updated_condition_bt_node", "nav2_reinitialize_global_localization_service_bt_node", "nav2_rate_controller_bt_node", "nav2_distance_controller_bt_node", "nav2_recovery_node_bt_node", "nav2_pipeline_sequence_bt_node", "nav2_round_robin_node_bt_node", "nav2_transform_available_condition_bt_node"] |  |
+| transform_tolerance | 0.1 |  |
+| global_frame | "map" |  |
+| robot_base_frame | "base_link" |  |
+
+# costmaps
+
+## Node: costmap_2d_ros 
+
+Namespace: /parent_ns/local_ns
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| always_send_full_costmap | false | |
+| footprint_padding | 0.01 | |
+| footprint | "[]" | |
+| global_frame | "map" | |
+| height | 5 | |
+| width | 5 | |
+| lethal_cost_threshold | 100 | |
+| map_topic | "parent_namespace/map" | |
+| observation_sources | "" | |
+| origin_x | 0.0 | |
+| origin_y | 0.0 | |
+| plugin_names | {"static_layer", "obstacle_layer", "inflation_layer"} | |
+| plugin_types | {"nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"} | |
+| publish_frequency | 1.0 | |
+| resolution | 0.1 | |
+| robot_base_frame | "base_link" | |
+| robot_radius| 0.1 | |
+| rolling_window | false | |
+| track_unknown_space | false | |
+| transform_tolerance | 0.3 | |
+| trinary_costmap | true | |
+| unknown_cost_value | 255 | |
+| update_frequency | 5.0 | 
+| use_maximum | false | |
+| clearable_layers | "obstacle_layer" | |
+
+### static_layer plugin
+
+* `<static layer>`: Name corresponding to the `nav2_costmap_2d::StaticLayer` plugin. This name gets defined in `plugin_names`, default value is `static_layer`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<static layer>`.enabled | true | |
+| `<static layer>`.subscribe_to_updates | false | |
+| `<static layer>`.subscribe_to_updates | false | |
+| `<static layer>`.map_subscribe_transient_local | true | |
+| `<static layer>`.transform_tolerance | 0.0 | |
+
+### inflation_layer plugin
+
+* `<inflation layer>`: Name corresponding to the `nav2_costmap_2d::InflationLayer` plugin. This name gets defined in `plugin_names`, default value is `inflation_layer`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<inflation layer>`.enabled | true | |
+| `<inflation layer>`.inflation_radius | 0.55 | |
+| `<inflation layer>`.cost_scaling_factor | 10.0 | |
+| `<inflation layer>`.inflate_unknown | false | |
+| `<inflation layer>`.inflate_around_unknown | false | |
+
+### obstacle_layer plugin
+
+* `<obstacle layer>`: Name corresponding to the `nav2_costmap_2d::ObstacleLayer` plugin. This name gets defined in `plugin_names`, default value is `obstacle_layer`
+* `<data source>`: Name of a source provided in ``<obstacle layer>`.observation_sources`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<obstacle layer>`.enabled | true | |
+| `<obstacle layer>`.footprint_clearing_enabled | true | |
+| `<obstacle layer>`.max_obstacle_height | 2.0 | |
+| `<obstacle layer>`.combination_method | 1 | |
+| `<obstacle layer>`.observation_sources | "" | data source topic |
+| `<data source>`.topic  | "" | |
+| `<data source>`.sensor_frame | "" | |
+| `<data source>`.observation_persistence | 0.0 | |
+| `<data source>`.expected_update_rate | 0.0 | |
+| `<data source>`.data_type | "LaserScan" | |
+| `<data source>`.min_obstacle_height | 0.0 | |
+| `<data source>`.max_obstacle_height | 0.0 | |
+| `<data source>`.inf_is_valid | false | |
+| `<data source>`.marking | true | |
+| `<data source>`.clearing | false | |
+| `<data source>`.obstacle_range | 2.5 | |
+| `<data source>`.raytrace_range | 3.0 | | 
+
+### voxel_layer plugin
+
+* `<voxel layer>`: Name corresponding to the `nav2_costmap_2d::VoxelLayer` plugin. This name gets defined in `plugin_names`
+* `<data source>`: Name of a source provided in `<voxel layer>`.observation_sources`
+
+*Note*: These parameters will only get declared if a `<voxel layer>` name such as `voxel_layer` is appended to `plugin_names` parameter and `"nav2_costmap_2d::VoxelLayer"` is appended to `plugin_types` parameter.
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<voxel layer>`.enabled | true | |
+| `<voxel layer>`.footprint_clearing_enabled | true | |
+| `<voxel layer>`.max_obstacle_height | 2.0 | |
+| `<voxel layer>`.z_voxels | 10 | |
+| `<voxel layer>`.origin_z | 0.0 | |
+| `<voxel layer>`.z_resolution | 0.2 | |
+| `<voxel layer>`.unknown_threshold | 15 | |
+| `<voxel layer>`.mark_threshold | 0 | |
+| `<voxel layer>`.combination_method | 1 | |
+| `<voxel layer>`.publish_voxel_map | false | |
+| `<voxel layer>`.observation_sources | "" | data source topic |
+| `<data source>`.topic  | "" | |
+| `<data source>`.sensor_frame | "" | |
+| `<data source>`.observation_persistence | 0.0 | |
+| `<data source>`.expected_update_rate | 0.0 | |
+| `<data source>`.data_type | "LaserScan" | |
+| `<data source>`.min_obstacle_height | 0.0 | |
+| `<data source>`.max_obstacle_height | 0.0 | |
+| `<data source>`.inf_is_valid | false | |
+| `<data source>`.marking | true | |
+| `<data source>`.clearing | false | |
+| `<data source>`.obstacle_range | 2.5 | |
+| `<data source>`.raytrace_range | 3.0 | | 
+
+## controller_server
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| controller_frequency | 20.0 | |
+| controller_plugin_ids | "FollowPath" | |
+| controller_plugin_types | "dwb_core::DWBLocalPlanner" | |
+| min_x_velocity_threshold | 0.0001 | |
+| min_y_velocity_threshold | 0.0001 | |
+| min_theta_velocity_threshold | 0.0001 | |
+| required_movement_radius | 0.5 | |
+| movement_time_allowance | 10.0 | |
+
+# dwb_controller
+
+* `<dwb plugin>`: DWB plugin name defined in `controller_plugin_ids` in the controller_server parameters
+
+### dwb_local_planner
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.critics | | |
+| `<dwb plugin>`.default_critic_namespaces | ["dwb_critics"] | |
+| `<dwb plugin>`.prune_plan | true | |
+| `<dwb plugin>`.prune_distance | 1.0 | |
+| `<dwb plugin>`.debug_trajectory_details | false | |
+| `<dwb plugin>`.trajectory_generator_name | "dwb_plugins::StandardTrajectoryGenerator" | |
+| `<dwb plugin>`.goal_checker_name | "dwb_plugins::SimpleGoalChecker" | |
+| `<dwb plugin>`.transform_tolerance | 0.1 | |
+| `<dwb plugin>`.short_circuit_trajectory_evaluation | true | |
+| `<dwb plugin>`.path_distance_bias | N/A | |
+| `<dwb plugin>`.goal_distance_bias |  | |
+| `<dwb plugin>`.occdist_scale |  | |
+| `<dwb plugin>`.max_scaling_factor |  | |
+| `<dwb plugin>`.scaling_speed |  | |
+| `<dwb plugin>`.PathAlign.scale |  | |
+| `<dwb plugin>`.GoalAlign.scale |  | |
+| `<dwb plugin>`.PathDist.scale |  | |
+| `<dwb plugin>`.GoalDist.scale |  | |
+
+### publisher
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.publish_evaluation |true | |
+| `<dwb plugin>`.publish_global_plan | true | |
+| `<dwb plugin>`.publish_transformed_plan | true | |
+| `<dwb plugin>`.publish_local_plan | true | |
+| `<dwb plugin>`.publish_trajectories | true | |
+| `<dwb plugin>`.publish_cost_grid_pc | false | |
+| `<dwb plugin>`.marker_lifetime | 0.1 | |
+
+### oscillation TrajectoryCritic
+
+* `<name>`: oscillation critic name defined in `<dwb plugin>.critics`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.`<name>`.oscillation_reset_dist | 0.05 | |
+| `<dwb plugin>`.`<name>`.oscillation_reset_angle | 0.2 | |
+| `<dwb plugin>`.`<name>`.oscillation_reset_time | -1 | |
+| `<dwb plugin>`.`<name>`.x_only_threshold | 0.05 | |
+| `<dwb plugin>`.`<name>`.scale | 1.0 | |
+
+### kinematic_parameters 
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.max_vel_theta | 0.0 | |
+| `<dwb plugin>`.min_speed_xy | 0.0 | |
+| `<dwb plugin>`.max_speed_xy | 0.0| |
+| `<dwb plugin>`.min_speed_theta | 0.0 | |
+| `<dwb plugin>`.min_vel_x | 0.0 | |
+| `<dwb plugin>`.min_vel_y | 0.0 | |
+| `<dwb plugin>`.max_vel_x | 0.0 | |
+| `<dwb plugin>`.max_vel_theta | 0.0 | |
+| `<dwb plugin>`.acc_lim_x | 0.0 | |
+| `<dwb plugin>`.acc_lim_y | 0.0 | |
+| `<dwb plugin>`.acc_lim_theta | 0.0 | |
+| `<dwb plugin>`.decel_lim_x | 0.0 | |
+| `<dwb plugin>`.decel_lim_y | 0.0 | |
+| `<dwb plugin>`.decel_lim_theta | 0.0 | |
+
+### xy_theta_iterator 
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.vx_samples | 20 | |
+| `<dwb plugin>`.vy_samples | 5 | |
+| `<dwb plugin>`.vtheta_samples | 20| |
+
+### base_obstacle TrajectoryCritic
+
+* `<name>`: base_obstacle critic name defined in `<dwb plugin>.critics`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.`<name>`.sum_scores | false | |
+| `<dwb plugin>`.`<name>`.scale | 1.0 | |
+
+### obstacle_footprint TrajectoryCritic
+
+* `<name>`: obstacle_footprint critic name defined in `<dwb plugin>.critics`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.`<name>`.sum_scores | false | |
+| `<dwb plugin>`.`<name>`.scale | 1.0 | |
+
+### prefer_forward TrajectoryCritic
+
+* `<name>`: prefer_forward critic name defined in `<dwb plugin>.critics`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.`<name>`.penalty | 1.0 | |
+| `<dwb plugin>`.`<name>`.strafe_x | 0.1 | |
+| `<dwb plugin>`.`<name>`.strafe_theta | 0.2 | |
+| `<dwb plugin>`.`<name>`.theta_scale | 10.0 | |
+| `<dwb plugin>`.`<name>`.scale | 1.0 | |
+
+### twirling TrajectoryCritic
+
+* `<name>`: twirling critic name defined in `<dwb plugin>.critics`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.`<name>`.scale | 0.0 | |
+
+### goal_align TrajectoryCritic
+
+* `<name>`: goal_align critic name defined in `<dwb plugin>.critics`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.`<name>`.forward_point_distance | 0.325 | |
+| `<dwb plugin>`.`<name>`.scale | 1.0 | |
+
+### map_grid TrajectoryCritic
+
+* `<name>`: map_grid critic name defined in `<dwb plugin>.critics`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.`<name>`.aggregation_type | "last" | |
+| `<dwb plugin>`.`<name>`.scale | 1.0 | |
+
+### path_dist TrajectoryCritic
+
+* `<name>`: path_dist critic name defined in `<dwb plugin>.critics`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.`<name>`.aggregation_type | "last" | |
+| `<dwb plugin>`.`<name>`.scale | 1.0 | |
+
+### path_align TrajectoryCritic
+
+* `<name>`: path_align critic name defined in `<dwb plugin>.critics`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.`<name>`.forward_point_distance | 0.325 | |
+| `<dwb plugin>`.`<name>`.scale | 1.0 | |
+
+### rotate_to_goal TrajectoryCritic
+
+* `<name>`: rotate_to_goal critic name defined in `<dwb plugin>.critics`
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.xy_goal_tolerance | 0.25 | |
+| `<dwb plugin>`.trans_stopped_velocity | 0.25 | |
+| `<dwb plugin>`.slowing_factor | 5.0 | |
+| `<dwb plugin>`.lookahead_time | -1 | |
+| `<dwb plugin>`.`<name>`.scale | 1.0 | |
+
+### simple_goal_checker plugin
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.xy_goal_tolerance | 0.25 | |
+| `<dwb plugin>`.yaw_goal_tolerance | 0.25 | |
+| `<dwb plugin>`.stateful | true | |
+
+### standard_traj_generator plugin
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.sim_time | 1.7 | |
+| `<dwb plugin>`.discretize_by_time | false | |
+| `<dwb plugin>`.time_granularity | 0.5 | |
+| `<dwb plugin>`.linear_granularity | 0.5 | |
+| `<dwb plugin>`.angular_granularity | 0.025 | |
+| `<dwb plugin>`.include_last_point | true | |
+
+### limited_accel_generator plugin
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.sim_time | N/A | |
+
+### stopped_goal_checker plugin
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<dwb plugin>`.rot_stopped_velocity | 0.25 | |
+| `<dwb plugin>`.trans_stopped_velocity | 0.25 | |
+
+# lifecycle_manager
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| node_names | N/A | |
+| autostart | false | |
+
+# map_saver
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| save_map_timeout | 2000 | |
+| free_thresh_default | 0.25 | |
+| occupied_thresh_default | 0.65 | |
+
+# map_server
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| yaml_filename | N/A | |
+| topic_name | "map" | |
+| frame_id | "map" | |
+
+# planner_server
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| planner_plugin_ids | "GridBased" | |
+| planner_plugin_types | "nav2_navfn_planner/NavfnPlanner" | |
+
+# navfn_planner
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| name.tolerance  | 0.5 | |
+| name.use_astar | false | |
+| name.allow_unknown | true | |
+
+# waypoint_follower
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| stop_on_failure | true | |
+| loop_rate | 20 | |
+
+# recovers
+
+## recovery_server
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| costmap_topic | "local_costmap/costmap_raw" | |
+| footprint_topic | "local_costmap/published_footprint" | |
+| cycle_frequency | 10.0 | |
+| transform_tolerance | 0.1 | |
+| global_frame | "odom" | |
+| robot_base_frame | "base_link" | |
+| plugin_names | {"spin", "back_up", "wait"}| |
+| plugin_types | {"nav2_recoveries/Spin", "nav2_recoveries/BackUp", "nav2_recoveries/Wait"} | |
+
+## spin plugin
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| simulate_ahead_time | 2.0 | |
+| max_rotational_vel | 1.0 | |
+| min_rotational_vel | 0.4 | |
+| rotational_acc_lim | 3.2 | |
+
+## back_up plugin
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| simulate_ahead_time | 2.0 | |
+
+# AMCL
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| alpha1 | 0.2 | |
+| alpha2 | 0.2 | |
+| alpha3 | 0.2 | |
+| alpha4 | 0.2 | |
+| alpha5 | 0.2 | |
+| base_frame_id | "base_footprint" | |
+| beam_skip_distance | 0.5 | |
+| beam_skip_error_threshold | 0.9 |
+| beam_skip_threshold | 0.3 | |
+| do_beamskip | false| |
+| global_frame_id | "map" | The name of the coordinate frame published by the localization system |
+| lambda_short | 0.1 | Exponential decay parameter for z_short part of model |
+| laser_likelihood_max_dist | 2.0 | Maximum distance to do obstacle inflation on map, for use in likelihood_field model |
+| laser_max_range | 100.0 | Maximum scan range to be considered, -1.0 will cause the laser's reported maximum range to be used |
+| laser_min_range | -1 | Minimum scan range to be considered, -1.0 will cause the laser's reported minimum range to be used |
+| laser_model_type | "likelihood_field" | Which model to use, either beam, likelihood_field, or likelihood_field_prob. Same as likelihood_field but incorporates the beamskip feature, if enabled |
+| set_initial_pose | false | Causes AMCL to set initial pose from the initial_pose* parameters instead of waiting for the initial_pose message |
+| initial_pose.x | 0.0 | X coordinate of the initial robot pose in the map frame |
+| initial_pose.y | 0.0 | Y coordinate of the initial robot pose in the map frame |
+| initial_pose.z | 0.0 | Z coordinate of the initial robot pose in the map frame |
+| initial_pose.yaw | 0.0 | Yaw of the initial robot pose in the map frame |
+| max_beams | 60 | How many evenly-spaced beams in each scan to be used when updating the filter |
+| max_particles | 2000 | Maximum allowed number of particles |
+| min_particles | 500 | Minimum allowed number of particles |
+| odom_frame_id | "odom" | Which frame to use for odometry |
+| pf_err | 0.05 | |
+| pf_z | 0.99 | |
+| recovery_alpha_fast | 0.0 | Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. A good value might be 0.001|
+| resample_interval | 1 | Number of filter updates required before resampling |
+| robot_model_type | "differential" | |
+| save_pose_rate | 0.5 | Maximum rate (Hz) at which to store the last estimated pose and covariance to the parameter server, in the variables ~initial_pose_* and ~initial_cov_*. This saved pose will be used on subsequent runs to initialize the filter (-1.0 to disable) |
+| sigma_hit | 0.2 | |
+| tf_broadcast | true | Set this to false to prevent amcl from publishing the transform between the global frame and the odometry frame |
+| transform_tolerance | 1.0 |  Time with which to post-date the transform that is published, to indicate that this transform is valid into the future |
+| update_min_a | 0.2 | Rotational movement required before performing a filter update |
+| update_min_d | 0.25 | Translational movement required before performing a filter update |
+| z_hit | 0.5 | |
+| z_max | 0.05 | |
+| z_rand | 0.5 | |
+| z_short | 0.05 | |
+| always_reset_initial_pose | false | Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize |
+
+---
+
+# Behavior Tree Nodes
+
+## Actions
+
+### BT Node BackUp
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| backup_dist | -0.15 | Distance to backup |
+| backup_speed | 0.025 | Speed at which to backup |
+| server_name | N/A | Action server name |
+| server_timeout | 10 | (milliseconds) |
+
+### BT Node ClearEntireCostmap
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| service_name | N/A | Server name |
+| server_timeout | 10 | (milliseconds) |
+
+### BT Node ComputePathToPose
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| goal | N/A | Destination to plan to |
+| planner_id | N/A | |
+| server_name | N/A | Action server name |
+| server_timeout | 10 | (milliseconds) |
+
+| Output Port | Default | Description |
+| ----------- | ------- | ----------- |
+| path | N/A | Path created by ComputePathToPose node |
+
+### BT Node FollowPath
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| path | N/A | Path to follow |
+| controller_id | N/A | |
+| server_name | N/A | Action server name |
+| server_timeout | 10 | (milliseconds) |
+
+### BT Node NavigateToPose
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| position | N/A | Position |
+| orientation | N/A | Orientation |
+| server_name | N/A | Action server name |
+| server_timeout | 10 | (milliseconds) |
+
+### BT Node ReinitializeGlobalLocalization
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| service_name | N/A | Server name |
+| server_timeout | 10 | (milliseconds) |
+
+### BT Node Spin
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| spin_dist | 1.57 | Spin distance |
+| server_name | N/A | Action server name |
+| server_timeout | 10 | (milliseconds) |
+
+### BT Node Wait
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| wait_duration | 1 | Wait time |
+| server_name | N/A | Action server name |
+| server_timeout | 10 | (milliseconds) |
+
+## Conditions
+
+### BT Node GoalReached
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| goal | N/A | Destination |
+| global_frame | "map" | Global frame |
+| robot_base_frame | "base_link" | Robot base frame |
+
+### BT Node TransformAvailable (condition)
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| child | "" | Child frame for transform |
+| parent | "" | parent frame for transform |
+
+## Controls
+
+### BT Node RecoveryNode
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| number_of_retries | 1 | Number of retries |
+
+## Decorators
+
+### BT Node DistanceController
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| distance | 1.0 | Distance |
+| global_frame | "map" | Global frame |
+| robot_base_frame | "base_link" | Robot base frame |
+
+### BT Node RateController
+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| hz | 10.0 | Rate |
\ No newline at end of file