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add the missing ports and description for the XML nodes #2866

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merged 3 commits into from
Mar 25, 2022
Merged

add the missing ports and description for the XML nodes #2866

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1f8453d
add the missing ports and description
padhupradheep Mar 24, 2022
8d3a7b8
update
padhupradheep Mar 24, 2022
e9d5bc1
update
padhupradheep Mar 25, 2022
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2 changes: 1 addition & 1 deletion ...vior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"),
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});
}
};
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2 changes: 1 addition & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
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Expand Up @@ -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"),
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});
}
};
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29 changes: 27 additions & 2 deletions nav2_behavior_tree/nav2_tree_nodes.xml
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Expand Up @@ -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">
Expand All @@ -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>

Expand All @@ -71,17 +80,25 @@
<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">
<input_port name="service_name">Service name</input_port>
<input_port name="server_timeout">Server timeout</input_port>
</Action>

<Action ID="TruncatePath">
Expand Down Expand Up @@ -111,15 +128,21 @@
<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"/>
Expand Down Expand Up @@ -173,6 +196,8 @@

<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">
Expand Down