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Add docs for new BtActionServer/Navigator parameter #534

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merged 4 commits into from
Mar 23, 2024
Merged

Add docs for new BtActionServer/Navigator parameter #534

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19e583e
Add description for new BtNavigator param
huemerj Mar 23, 2024
3c66fc3
Fix typo in Iron.rst
huemerj Mar 23, 2024
0caa8b9
Add description for new BtActionServer/Navigator param
huemerj Mar 23, 2024
23ce653
Add exemplary param config
huemerj Mar 23, 2024
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12 changes: 12 additions & 0 deletions configuration/packages/configuring-bt-navigator.rst
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Expand Up @@ -57,6 +57,17 @@ Parameters
You can use substitution to specify file path like ``$(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml``.


:always_reload_bt_xml:

====== =======
Type Default
------ -------
bool false
====== =======

Description
Always load the requested behavior tree XML description, regardless of the name of the currently active XML.

:plugin_lib_names:

============== ==========================================================
Expand Down Expand Up @@ -229,6 +240,7 @@ Example
transform_tolerance: 0.1
default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml
always_reload_bt_xml: false
goal_blackboard_id: goal
goals_blackboard_id: goals
path_blackboard_id: path
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9 changes: 8 additions & 1 deletion migration/Iron.rst
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Expand Up @@ -270,7 +270,7 @@ Interpolation is based on the orientation of the vector formed by the last 2 pos
.. image:: images/rpp_goal_lookahead_interpolate.gif
:width: 45%

Additionally, the conflict between ``use_rotate_to_heading` and ``allow_reversing`` was fixed so ``use_rotate_to_heading`` can now be used backward.
Additionally, the conflict between ``use_rotate_to_heading`` and ``allow_reversing`` was fixed so ``use_rotate_to_heading`` can now be used backward.

Cancel Checker Interface For GlobalPlanner
*******************************************
Expand All @@ -287,3 +287,10 @@ New interface for ``GlobalPlanner::createPlan``:

This is implemented for all the planners in the stack, you can check them for the example use of ``cancel_checker`` function (simply check ``cancel_checker()``).
Smac and Theta* planners have a new parameter ``terminal_checking_interval`` which is the frequency of the cancel or timeout checking in terms of number of iterations.


New BtActionServer/BtNavigator parameter
****************************************

`PR #4209 <https://github.com/ros-planning/navigation2/pull/4209>`_ introduces a new boolean parameter ``always_reload_bt_xml``, which enables the possibility to always reload a requested behavior tree XML description, regardless of the currently active XML. This allows keeping the action server running while changing/developing the XML description.