From 81f19e4384f50801a62644238f68fa192b662b05 Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Tue, 9 Jul 2024 11:50:31 -0700
Subject: [PATCH] adding get pose from path (#574)

---
 .../bt-plugins/actions/GetPoseFromPath.rst    | 52 +++++++++++++++++++
 configuration/packages/configuring-bt-xml.rst |  1 +
 migration/Jazzy.rst                           |  9 +++-
 plugins/index.rst                             |  3 ++
 4 files changed, 64 insertions(+), 1 deletion(-)
 create mode 100644 configuration/packages/bt-plugins/actions/GetPoseFromPath.rst

diff --git a/configuration/packages/bt-plugins/actions/GetPoseFromPath.rst b/configuration/packages/bt-plugins/actions/GetPoseFromPath.rst
new file mode 100644
index 000000000..7a366653c
--- /dev/null
+++ b/configuration/packages/bt-plugins/actions/GetPoseFromPath.rst
@@ -0,0 +1,52 @@
+.. _bt_getposefrompath_action:
+
+GetPoseFromPath
+===============
+
+Gets a pose from a particular index on the path. Use ``-1`` to get the last pose, ``-2`` for second to last, and so on.
+
+Input Ports
+***********
+
+:path:
+
+  ============= =======
+  Type          Default
+  ------------- -------
+  nav_msgs/Path N/A
+  ============= =======
+
+  Description
+    	Path to extract pose from
+
+:index:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  int    0
+  ====== =======
+
+  Description
+    	Index from path to use. Use ``-1`` to get the last pose, ``-2`` for second to last, and so on.
+
+Output Ports
+------------
+
+:pose:
+
+  ========================= =======
+  Type                      Default
+  ------------------------- -------
+  geometry_msgs/PoseStamped N/A  
+  ========================= =======
+
+  Description
+    	Pose from path, with the Path's set header.
+
+Example
+-------
+
+.. code-block:: xml
+
+  <GetPoseFromPath path="{path}" index="-1" pose="{goal}"/>
diff --git a/configuration/packages/configuring-bt-xml.rst b/configuration/packages/configuring-bt-xml.rst
index 7a4f43d9d..f08349010 100644
--- a/configuration/packages/configuring-bt-xml.rst
+++ b/configuration/packages/configuring-bt-xml.rst
@@ -50,6 +50,7 @@ Action Plugins
   bt-plugins/actions/CancelDriveOnHeading.rst
   bt-plugins/actions/CancelAssistedTeleop.rst
   bt-plugins/actions/Smooth.rst
+  bt-plugins/actions/GetPoseFromPath.rst
 
 Condition Plugins
 *****************
diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst
index 93832da0f..10653623b 100644
--- a/migration/Jazzy.rst
+++ b/migration/Jazzy.rst
@@ -23,4 +23,11 @@ Here we can see the working demo of the plugin:
 
 .. image:: images/docking_panel.gif
 
-.. attention:: If the docking server is unavailable, then the combo box of the dock type will be empty.
\ No newline at end of file
+.. attention:: If the docking server is unavailable, then the combo box of the dock type will be empty.
+
+New BT Nodes
+************
+
+Below is a list of new BT Nodes added:
+
+- ``GetPoseFromPath``: An action to get a particular pose from an input path.
diff --git a/plugins/index.rst b/plugins/index.rst
index 9c2729f6d..675151f07 100644
--- a/plugins/index.rst
+++ b/plugins/index.rst
@@ -410,6 +410,8 @@ Behavior Tree Nodes
 +--------------------------------------------+---------------------+------------------------------------------+
 | `Compute Complete Coverage Path Action`_   | Steve Macenski      | Calls coverage planner server            |
 +--------------------------------------------+---------------------+------------------------------------------+
+| `Get Pose From Path Action`_               |  Marc Morcos        | Extracts a pose from a path              |
++--------------------------------------------+---------------------+------------------------------------------+
 
 .. _Back Up Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/back_up_action.cpp
 .. _Drive On Heading Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
@@ -442,6 +444,7 @@ Behavior Tree Nodes
 .. _Cancel Assisted Teleop Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.cpp
 .. _Cancel Complete Coverage Action: https://github.com/open-navigation/opennav_coverage/blob/main/opennav_coverage_bt/src/cancel_complete_coverage_path.cpp
 .. _Compute Complete Coverage Path Action: https://github.com/open-navigation/opennav_coverage/blob/main/opennav_coverage_bt/src/compute_complete_coverage_path.cpp
+.. _Get Pose From Path Action: https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp
 
 
 +------------------------------------+--------------------+------------------------+