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Update GoalUpdater docs #621

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Update GoalUpdater docs #621

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4c1feec
Update GoalUpdater docs
tonynajjar Dec 11, 2024
239fb87
Update GoalUpdater.rst
tonynajjar Dec 12, 2024
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37 changes: 35 additions & 2 deletions configuration/packages/bt-plugins/decorators/GoalUpdater.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
GoalUpdater
===========

A custom control node, which updates the goal pose. It subscribes to a topic in which it can receive an updated goal pose to use instead of the one commanded in action. It is useful for dynamic object following tasks.
A custom control node, which updates the goal(s) pose(s). It subscribes to a topic in which it can receive (an) updated goal(s) pose(s) to use instead of the one(s) commanded in action. It is useful for dynamic object following tasks.

Parameters
----------
Expand All @@ -19,6 +19,17 @@ Parameters
Description
The topic to receive the updated goal pose

:goals_updater_topic:

====== ===============
Type Default
------ ---------------
string "goals_update"
====== ===============

Description
The topic to receive the updated goals poses

Input Ports
-----------

Expand All @@ -33,6 +44,17 @@ Input Ports
Description
The original goal pose

:input_goals:

============================== =======
Type Default
------------------------------ -------
geometry_msgs/PoseStampedArray N/A
============================== =======

Description
The original goals poses

:output_goal:

========================= =======
Expand All @@ -44,11 +66,22 @@ Input Ports
Description
The resulting updated goal. If no goal received by subscription, it will be the input_goal

:output_goals:

============================== =======
Type Default
------------------------------ -------
geometry_msgs/PoseStampedArray N/A
============================== =======

Description
The resulting updated goals. If no goals received by subscription, it will be the input_goals

Example
-------

.. code-block:: xml

<GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
<GoalUpdater input_goal="{goal}" input_goals="{goals}" output_goal="{goal}" output_goals="{goals}">
<!--Add tree components here--->
</GoalUpdater>
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