docs for compute path through poses updates (#357)

Co-authored-by: Joshua Wallace <josho.wallace.com>
ros-navigation · Oct 31, 2022 · acf37c2 · acf37c2
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diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst
@@ -80,6 +80,17 @@ Output Ports
   Description
     	Path created by action server. Takes in a blackboard variable, e.g. "{path}".
 
+:compute_path_through_poses_error_code:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  int16          N/A  
+  ============== =======
+
+  Description
+    	Compute path through poses error code. See ``ComputePathThroughPoses`` action message for the enumerated set of error codes.
+
 Example
 -------
 

diff --git a/migration/Humble.rst b/migration/Humble.rst
@@ -53,6 +53,10 @@ Feedback for Navigation Failures
 
 The following errors codes are supported (with more to come as necessary): Unknown, TF Error, Start or Goal Outside of Map, Start or Goal Occupied, Timeout, or No Valid Path Found.
 
+`PR #3248 <https://github.com/ros-planning/navigation2/pull/3248>`_ updates the compute path through poses action to report planning failures. These exceptions get reported back to the planner server which in turn places a error code on the Behavior Tree Navigator's blackboard for use in contextual error handling in the autonomy application.
+
+The following errors codes are supported (with more to come as necessary): Unknown, TF Error, Start or Goal Outside of Map, Start or Goal Occupied, Timeout, No Valid Path Found and No Waypoints given.
+
 Costmap Filters
 ***************