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ros-navigation · Feb 12, 2024 · 277d289 · 277d289
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diff --git a/_sources/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst.txt b/_sources/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst.txt
@@ -9,6 +9,31 @@ Returns failure if the goal is the same, if it changes, it returns success.
 This node differs from the GoalUpdated by retaining the state of the current goal/goals throughout each tick of the BehaviorTree
 such that it will update on any "global" change to the goal. 
 
+Input Ports
+-----------
+
+:goal:
+
+  =============================== ========
+  Type                            Default
+  ------------------------------- --------
+  geometry_msgs::msg::PoseStamped "{goal}"
+  =============================== ========
+
+  Description
+    	Destination to check. Takes in a blackboard variable, "{goal}" if not specified.
+
+:goals:
+
+  ============================================ =========
+  Type                                         Default
+  -------------------------------------------- ---------
+  std::vector<geometry_msgs::msg::PoseStamped> "{goals}"
+  ============================================ =========
+
+  Description
+    	Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.
+
 Example
 -------
 

diff --git a/_sources/configuration/packages/bt-plugins/conditions/GoalUpdated.rst.txt b/_sources/configuration/packages/bt-plugins/conditions/GoalUpdated.rst.txt
@@ -3,9 +3,34 @@
 GoalUpdated
 ===========
 
-Checks if the global navigation goal has changed in the blackboard. 
+Checks if the global navigation goal, or a vector of goals, has changed in the blackboard. 
 Returns failure if the goal is the same, if it changes, it returns success.
 
+Input Ports
+-----------
+
+:goal:
+
+  =============================== ========
+  Type                            Default
+  ------------------------------- --------
+  geometry_msgs::msg::PoseStamped "{goal}"
+  =============================== ========
+
+  Description
+    	Destination to check. Takes in a blackboard variable, "{goal}" if not specified.
+
+:goals:
+
+  ============================================ =========
+  Type                                         Default
+  -------------------------------------------- ---------
+  std::vector<geometry_msgs::msg::PoseStamped> "{goals}"
+  ============================================ =========
+
+  Description
+    	Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.
+
 Example
 -------
 

diff --git a/_sources/configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst.txt b/_sources/configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst.txt
@@ -5,6 +5,21 @@ InitialPoseReceived
 
 Node that returns success when the initial pose is sent to AMCL via `/initial_pose``.
 
+Input Ports
+-----------
+
+:initial_pose_received:
+
+  =====  ========================
+  Type   Default
+  ----- -------------------------
+  bool  "{initial_pose_received}"
+  ===== =========================
+
+  Description
+    	Success if the value in the port is true. Takes in a blackboard variable,
+        "{initial_pose_received}" if not specified.
+
 Example
 -------
 

diff --git a/_sources/configuration/packages/bt-plugins/decorators/SpeedController.rst.txt b/_sources/configuration/packages/bt-plugins/decorators/SpeedController.rst.txt
@@ -66,6 +66,28 @@ Input Ports
   Description
       Duration (secs) over which robot velocity should be smoothed.
 
+:goal:
+
+  =============================== ========
+  Type                            Default
+  ------------------------------- --------
+  geometry_msgs::msg::PoseStamped "{goal}"
+  =============================== ========
+
+  Description
+    	Destination to check. Takes in a blackboard variable, "{goal}" if not specified.
+
+:goals:
+
+  ============================================ =========
+  Type                                         Default
+  -------------------------------------------- ---------
+  std::vector<geometry_msgs::msg::PoseStamped> "{goals}"
+  ============================================ =========
+
+  Description
+    	Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.
+
 Example
 -------
 

diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.html
@@ -1047,6 +1047,51 @@
 Returns failure if the goal is the same, if it changes, it returns success.</p>
 <p>This node differs from the GoalUpdated by retaining the state of the current goal/goals throughout each tick of the BehaviorTree
 such that it will update on any “global” change to the goal.</p>
+<div class="section" id="input-ports">
+<h2>Input Ports<a class="headerlink" href="#input-ports" title="Permalink to this headline">¶</a></h2>
+<dl class="field-list">
+<dt class="field-odd">goal</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 79%" />
+<col style="width: 21%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>geometry_msgs::msg::PoseStamped</p></td>
+<td><p>“{goal}”</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Destination to check. Takes in a blackboard variable, “{goal}” if not specified.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">goals</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 83%" />
+<col style="width: 17%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>std::vector&lt;geometry_msgs::msg::PoseStamped&gt;</p></td>
+<td><p>“{goals}”</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Vector of goals to check. Takes in a blackboard variable, “{goals}” if not specified.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</div>
 <div class="section" id="example">
 <h2>Example<a class="headerlink" href="#example" title="Permalink to this headline">¶</a></h2>
 <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;GlobalUpdatedGoal/&gt;</span>

diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.html b/configuration/packages/bt-plugins/conditions/GoalUpdated.html
@@ -1043,8 +1043,53 @@
 
   <div class="section" id="goalupdated">
 <span id="goal-updated-condition"></span><h1>GoalUpdated<a class="headerlink" href="#goalupdated" title="Permalink to this headline">¶</a></h1>
-<p>Checks if the global navigation goal has changed in the blackboard.
+<p>Checks if the global navigation goal, or a vector of goals, has changed in the blackboard.
 Returns failure if the goal is the same, if it changes, it returns success.</p>
+<div class="section" id="input-ports">
+<h2>Input Ports<a class="headerlink" href="#input-ports" title="Permalink to this headline">¶</a></h2>
+<dl class="field-list">
+<dt class="field-odd">goal</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 79%" />
+<col style="width: 21%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>geometry_msgs::msg::PoseStamped</p></td>
+<td><p>“{goal}”</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Destination to check. Takes in a blackboard variable, “{goal}” if not specified.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">goals</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 83%" />
+<col style="width: 17%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>std::vector&lt;geometry_msgs::msg::PoseStamped&gt;</p></td>
+<td><p>“{goals}”</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Vector of goals to check. Takes in a blackboard variable, “{goals}” if not specified.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</div>
 <div class="section" id="example">
 <h2>Example<a class="headerlink" href="#example" title="Permalink to this headline">¶</a></h2>
 <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;GoalUpdated/&gt;</span>

diff --git a/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html b/configuration/packages/bt-plugins/conditions/InitialPoseReceived.html
@@ -1044,6 +1044,18 @@
   <div class="section" id="initialposereceived">
 <span id="bt-initial-pose-received-condition"></span><h1>InitialPoseReceived<a class="headerlink" href="#initialposereceived" title="Permalink to this headline">¶</a></h1>
 <p>Node that returns success when the initial pose is sent to AMCL via <cite>/initial_pose`</cite>.</p>
+<div class="section" id="input-ports">
+<h2>Input Ports<a class="headerlink" href="#input-ports" title="Permalink to this headline">¶</a></h2>
+<dl class="field-list simple">
+<dt class="field-odd">initial_pose_received</dt>
+<dd class="field-odd"><dl class="simple">
+<dt>Description</dt><dd><p>Success if the value in the port is true. Takes in a blackboard variable,
+“{initial_pose_received}” if not specified.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</div>
 <div class="section" id="example">
 <h2>Example<a class="headerlink" href="#example" title="Permalink to this headline">¶</a></h2>
 <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;InitialPoseReceived/&gt;</span>

diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.html b/configuration/packages/bt-plugins/decorators/SpeedController.html
@@ -1150,6 +1150,46 @@ <h2>Input Ports<a class="headerlink" href="#input-ports" title="Permalink to thi
 </dd>
 </dl>
 </dd>
+<dt class="field-even">goal</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 79%" />
+<col style="width: 21%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>geometry_msgs::msg::PoseStamped</p></td>
+<td><p>“{goal}”</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Destination to check. Takes in a blackboard variable, “{goal}” if not specified.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-odd">goals</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 83%" />
+<col style="width: 17%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>std::vector&lt;geometry_msgs::msg::PoseStamped&gt;</p></td>
+<td><p>“{goals}”</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Vector of goals to check. Takes in a blackboard variable, “{goals}” if not specified.</p>
+</dd>
+</dl>
+</dd>
 </dl>
 </div>
 <div class="section" id="example">

diff --git a/searchindex.js b/searchindex.js