From 1f8453d435f65ecbf8203a8824b0399a21c4ea7f Mon Sep 17 00:00:00 2001
From: Pradheep-office <padhupradheep@gmail.com>
Date: Thu, 24 Mar 2022 11:11:48 +0100
Subject: [PATCH 1/3] add the missing ports and description

---
 .../compute_path_through_poses_action.hpp     |  2 +-
 .../action/compute_path_to_pose_action.hpp    |  2 +-
 nav2_behavior_tree/nav2_tree_nodes.xml        | 27 +++++++++++++++++--
 3 files changed, 27 insertions(+), 4 deletions(-)

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp
index 811ee005a2..588d54ae4b 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp
@@ -68,7 +68,7 @@ class ComputePathThroughPosesAction
           "Destinations to plan through"),
         BT::InputPort<geometry_msgs::msg::PoseStamped>(
           "start", "Start pose of the path if overriding current robot pose"),
-        BT::InputPort<std::string>("planner_id", ""),
+        BT::InputPort<std::string>("planner_id", "Mapped name to the planner plugin type to use"),
       });
   }
 };
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
index 2528a5ce20..65c07f6b05 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
@@ -63,7 +63,7 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
         BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
         BT::InputPort<geometry_msgs::msg::PoseStamped>(
           "start", "Start pose of the path if overriding current robot pose"),
-        BT::InputPort<std::string>("planner_id", ""),
+        BT::InputPort<std::string>("planner_id", "Mapped name to the planner plugin type to use"),
       });
   }
 };
diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index 8a5e81a830..92052398a4 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -11,6 +11,8 @@
       <input_port name="backup_dist">Distance to backup</input_port>
       <input_port name="backup_speed">Speed at which to backup</input_port>
       <input_port name="time_allowance">Allowed time for reversing</input_port>
+      <input_port name="server_name">Service name</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
     <Action ID="CancelControl">
@@ -35,25 +37,32 @@
 
     <Action ID="ClearEntireCostmap">
       <input_port name="service_name">Service name</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
     <Action ID="ComputePathToPose">
       <input_port name="goal">Destination to plan to</input_port>
       <input_port name="start">Start pose of the path if overriding current robot pose</input_port>
+      <input_port name="planner_id">Mapped name to the planner plugin type to use</input_port>
+      <input_port name="service_name">Service name</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
       <output_port name="path">Path created by ComputePathToPose node</output_port>
-      <input_port name="planner_id"/>
     </Action>
 
     <Action ID="ComputePathThroughPoses">
       <input_port name="goals">Destinations to plan through</input_port>
       <input_port name="start">Start pose of the path if overriding current robot pose</input_port>
+      <input_port name="service_name">Service name</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
+      <input_port name="planner_id">Mapped name to the planner plugin type to use</input_port>
       <output_port name="path">Path created by ComputePathToPose node</output_port>
-      <input_port name="planner_id"/>
     </Action>
 
     <Action ID="RemovePassedGoals">
       <input_port name="input_goals">Input goals to remove if passed</input_port>
       <input_port name="radius">Radius tolerance on a goal to consider it passed</input_port>
+      <input_port name="global_frame">Global frame</input_port>
+      <input_port name="robot_base_frame">Robot base frame</input_port>
       <output_port name="output_goals">Set of goals after removing any passed</output_port>
     </Action>
 
@@ -71,14 +80,20 @@
       <input_port name="controller_id" default="FollowPath"/>
       <input_port name="path">Path to follow</input_port>
       <input_port name="goal_checker_id" default="GoalChecker">Goal checker</input_port>
+      <input_port name="service_name">Service name</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
     <Action ID="NavigateToPose">
         <input_port name="goal">Goal</input_port>
+        <input_port name="service_name">Service name</input_port>
+        <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
     <Action ID="NavigateThroughPoses">
         <input_port name="goals">Goals</input_port>
+        <input_port name="service_name">Service name</input_port>
+        <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
     <Action ID="ReinitializeGlobalLocalization">
@@ -111,15 +126,21 @@
     <Action ID="Spin">
       <input_port name="spin_dist">Spin distance</input_port>
       <input_port name="time_allowance">Allowed time for spinning</input_port>
+      <input_port name="server_name">Service name</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
     <Action ID="Wait">
       <input_port name="wait_duration">Wait time</input_port>
+      <input_port name="server_name">Service name</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
     <!-- ############################### CONDITION NODES ############################## -->
     <Condition ID="GoalReached">
         <input_port name="goal">Destination</input_port>
+        <input_port name="global_frame">Reference frame</input_port>
+        <input_port name="robot_base_frame">Robot base frame</input_port>
     </Condition>
 
     <Condition ID="IsStuck"/>
@@ -173,6 +194,8 @@
 
     <Decorator ID="DistanceController">
       <input_port name="distance">Distance</input_port>
+      <input_port name="global_frame">Reference frame</input_port>
+      <input_port name="robot_base_frame">Robot base frame</input_port>
     </Decorator>
 
     <Decorator ID="SingleTrigger">

From 8d3a7b8bb028752c9cc0844fb69b91d8aff266a7 Mon Sep 17 00:00:00 2001
From: Pradheep-office <padhupradheep@gmail.com>
Date: Thu, 24 Mar 2022 12:00:34 +0100
Subject: [PATCH 2/3] update

---
 nav2_behavior_tree/nav2_tree_nodes.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index 92052398a4..088dbb5dfb 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -97,6 +97,8 @@
     </Action>
 
     <Action ID="ReinitializeGlobalLocalization">
+        <input_port name="service_name">Service name</input_port>
+        <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
     <Action ID="TruncatePath">

From e9d5bc1570b2123d1f193a0db369ebd143d1fe6f Mon Sep 17 00:00:00 2001
From: Pradheep-office <padhupradheep@gmail.com>
Date: Fri, 25 Mar 2022 14:06:26 +0100
Subject: [PATCH 3/3] update

---
 .../plugins/action/compute_path_through_poses_action.hpp      | 4 +++-
 .../plugins/action/compute_path_to_pose_action.hpp            | 4 +++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp
index 588d54ae4b..f9f233c233 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp
@@ -68,7 +68,9 @@ class ComputePathThroughPosesAction
           "Destinations to plan through"),
         BT::InputPort<geometry_msgs::msg::PoseStamped>(
           "start", "Start pose of the path if overriding current robot pose"),
-        BT::InputPort<std::string>("planner_id", "Mapped name to the planner plugin type to use"),
+        BT::InputPort<std::string>(
+          "planner_id", "",
+          "Mapped name to the planner plugin type to use"),
       });
   }
 };
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
index 65c07f6b05..105b52fbf6 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
@@ -63,7 +63,9 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
         BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
         BT::InputPort<geometry_msgs::msg::PoseStamped>(
           "start", "Start pose of the path if overriding current robot pose"),
-        BT::InputPort<std::string>("planner_id", "Mapped name to the planner plugin type to use"),
+        BT::InputPort<std::string>(
+          "planner_id", "",
+          "Mapped name to the planner plugin type to use"),
       });
   }
 };